^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) * adis16400.c support Analog Devices ADIS16400/5
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 4) * 3d 2g Linear Accelerometers,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 5) * 3d Gyroscopes,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 6) * 3d Magnetometers via SPI
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 7) *
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 8) * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 9) * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 10) * Copyright (c) 2011 Analog Devices Inc.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 11) */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 12)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 13) #include <linux/interrupt.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 14) #include <linux/irq.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 15) #include <linux/delay.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 16) #include <linux/mutex.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 17) #include <linux/device.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 18) #include <linux/kernel.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 19) #include <linux/spi/spi.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 20) #include <linux/slab.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 21) #include <linux/sysfs.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 22) #include <linux/list.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 23) #include <linux/module.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 24) #include <linux/debugfs.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 25) #include <linux/bitops.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 26)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 27) #include <linux/iio/iio.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 28) #include <linux/iio/sysfs.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 29) #include <linux/iio/buffer.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 30) #include <linux/iio/trigger_consumer.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 31) #include <linux/iio/imu/adis.h>
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 32)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 33) #define ADIS16400_STARTUP_DELAY 290 /* ms */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 34) #define ADIS16400_MTEST_DELAY 90 /* ms */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 35)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 36) #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 37) #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 38) #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 39) #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 40) #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 41) #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 42) #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 43) #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 44) #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 45) #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 46) #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 47) #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 48) #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 49)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 50) #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 51) #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 52) #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 53)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 54) #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 55) #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 56) #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 57)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 58) #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 59) #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 60)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 61) /* Calibration parameters */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 62) #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 63) #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 64) #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 65) #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 66) #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 67) #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 68) #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 69) #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 70) #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 71) #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 72) #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 73) #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 74)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 75) #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 76) #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 77) #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 78) #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 79) #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 80) #define ADIS16400_DIAG_STAT 0x3C /* System status */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 81)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 82) /* Alarm functions */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 83) #define ADIS16400_GLOB_CMD 0x3E /* System command */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 84) #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 85) #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 86) #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 87) #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 88) #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 89) #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 90)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 91) #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 92) #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 93) #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 94) #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 95)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 96) #define ADIS16400_ERROR_ACTIVE (1<<14)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 97) #define ADIS16400_NEW_DATA (1<<14)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 98)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 99) /* MSC_CTRL */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 100) #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 101) #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 102) #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 103) #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 104) #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 105) #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 106) #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 107) #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 108) #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 109)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 110) /* SMPL_PRD */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 111) #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 112) #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 113)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 114) /* DIAG_STAT */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 115) #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 116) #define ADIS16400_DIAG_STAT_YACCL_FAIL 14
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 117) #define ADIS16400_DIAG_STAT_XACCL_FAIL 13
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 118) #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 119) #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 120) #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 121) #define ADIS16400_DIAG_STAT_ALARM2 9
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 122) #define ADIS16400_DIAG_STAT_ALARM1 8
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 123) #define ADIS16400_DIAG_STAT_FLASH_CHK 6
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 124) #define ADIS16400_DIAG_STAT_SELF_TEST 5
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 125) #define ADIS16400_DIAG_STAT_OVERFLOW 4
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 126) #define ADIS16400_DIAG_STAT_SPI_FAIL 3
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 127) #define ADIS16400_DIAG_STAT_FLASH_UPT 2
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 128) #define ADIS16400_DIAG_STAT_POWER_HIGH 1
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 129) #define ADIS16400_DIAG_STAT_POWER_LOW 0
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 130)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 131) /* GLOB_CMD */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 132) #define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 133) #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 134) #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 135) #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 136) #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 137) #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 138)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 139) /* SLP_CNT */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 140) #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 141)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 142) #define ADIS16334_RATE_DIV_SHIFT 8
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 143) #define ADIS16334_RATE_INT_CLK BIT(0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 144)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 145) #define ADIS16400_SPI_SLOW (u32)(300 * 1000)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 146) #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 147) #define ADIS16400_SPI_FAST (u32)(2000 * 1000)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 148)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 149) #define ADIS16400_HAS_PROD_ID BIT(0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 150) #define ADIS16400_NO_BURST BIT(1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 151) #define ADIS16400_HAS_SLOW_MODE BIT(2)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 152) #define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 153) #define ADIS16400_BURST_DIAG_STAT BIT(4)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 154)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 155) struct adis16400_state;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 156)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 157) struct adis16400_chip_info {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 158) const struct iio_chan_spec *channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 159) const struct adis_data adis_data;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 160) const int num_channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 161) const long flags;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 162) unsigned int gyro_scale_micro;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 163) unsigned int accel_scale_micro;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 164) int temp_scale_nano;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 165) int temp_offset;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 166) /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 167) int (*set_freq)(struct adis16400_state *st, unsigned int freq);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 168) int (*get_freq)(struct adis16400_state *st);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 169) };
^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) * struct adis16400_state - device instance specific data
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 173) * @variant: chip variant info
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 174) * @filt_int: integer part of requested filter frequency
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 175) * @adis: adis device
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 176) * @avail_scan_mask: NULL terminated array of bitmaps of channels
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 177) * that must be enabled together
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 178) **/
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 179) struct adis16400_state {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 180) struct adis16400_chip_info *variant;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 181) int filt_int;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 182)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 183) struct adis adis;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 184) unsigned long avail_scan_mask[2];
^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) /* At the moment triggers are only used for ring buffer
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 188) * filling. This may change!
^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) enum {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 192) ADIS16400_SCAN_SUPPLY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 193) ADIS16400_SCAN_GYRO_X,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 194) ADIS16400_SCAN_GYRO_Y,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 195) ADIS16400_SCAN_GYRO_Z,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 196) ADIS16400_SCAN_ACC_X,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 197) ADIS16400_SCAN_ACC_Y,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 198) ADIS16400_SCAN_ACC_Z,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 199) ADIS16400_SCAN_MAGN_X,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 200) ADIS16400_SCAN_MAGN_Y,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 201) ADIS16400_SCAN_MAGN_Z,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 202) ADIS16400_SCAN_BARO,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 203) ADIS16350_SCAN_TEMP_X,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 204) ADIS16350_SCAN_TEMP_Y,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 205) ADIS16350_SCAN_TEMP_Z,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 206) ADIS16300_SCAN_INCLI_X,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 207) ADIS16300_SCAN_INCLI_Y,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 208) ADIS16400_SCAN_ADC,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 209) ADIS16400_SCAN_TIMESTAMP,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 210) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 211)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 212) #ifdef CONFIG_DEBUG_FS
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 213)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 214) static ssize_t adis16400_show_serial_number(struct file *file,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 215) char __user *userbuf, size_t count, loff_t *ppos)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 216) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 217) struct adis16400_state *st = file->private_data;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 218) u16 lot1, lot2, serial_number;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 219) char buf[16];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 220) size_t len;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 221) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 222)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 223) ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 224) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 225) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 226)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 227) ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 228) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 229) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 230)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 231) ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 232) &serial_number);
^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) len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 237) serial_number);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 238)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 239) return simple_read_from_buffer(userbuf, count, ppos, buf, len);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 240) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 241)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 242) static const struct file_operations adis16400_serial_number_fops = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 243) .open = simple_open,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 244) .read = adis16400_show_serial_number,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 245) .llseek = default_llseek,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 246) .owner = THIS_MODULE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 247) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 248)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 249) static int adis16400_show_product_id(void *arg, u64 *val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 250) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 251) struct adis16400_state *st = arg;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 252) uint16_t prod_id;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 253) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 254)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 255) ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 256) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 257) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 258)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 259) *val = prod_id;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 260)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 261) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 262) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 263) DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 264) adis16400_show_product_id, NULL, "%lld\n");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 265)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 266) static int adis16400_show_flash_count(void *arg, u64 *val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 267) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 268) struct adis16400_state *st = arg;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 269) uint16_t flash_count;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 270) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 271)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 272) ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 273) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 274) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 275)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 276) *val = flash_count;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 277)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 278) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 279) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 280) DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 281) adis16400_show_flash_count, NULL, "%lld\n");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 282)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 283) static int adis16400_debugfs_init(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 284) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 285) struct adis16400_state *st = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 286) struct dentry *d = iio_get_debugfs_dentry(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 287)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 288) if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 289) debugfs_create_file_unsafe("serial_number", 0400,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 290) d, st, &adis16400_serial_number_fops);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 291) if (st->variant->flags & ADIS16400_HAS_PROD_ID)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 292) debugfs_create_file_unsafe("product_id", 0400,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 293) d, st, &adis16400_product_id_fops);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 294) debugfs_create_file_unsafe("flash_count", 0400,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 295) d, st, &adis16400_flash_count_fops);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 296)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 297) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 298) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 299)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 300) #else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 301)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 302) static int adis16400_debugfs_init(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 303) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 304) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 305) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 306)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 307) #endif
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 308)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 309) enum adis16400_chip_variant {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 310) ADIS16300,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 311) ADIS16334,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 312) ADIS16350,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 313) ADIS16360,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 314) ADIS16362,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 315) ADIS16364,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 316) ADIS16367,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 317) ADIS16400,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 318) ADIS16445,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 319) ADIS16448,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 320) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 321)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 322) static int adis16334_get_freq(struct adis16400_state *st)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 323) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 324) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 325) uint16_t t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 326)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 327) ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 328) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 329) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 330)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 331) t >>= ADIS16334_RATE_DIV_SHIFT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 332)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 333) return 819200 >> t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 334) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 335)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 336) static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 337) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 338) unsigned int t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 339)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 340) if (freq < 819200)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 341) t = ilog2(819200 / freq);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 342) else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 343) t = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 344)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 345) if (t > 0x31)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 346) t = 0x31;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 347)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 348) t <<= ADIS16334_RATE_DIV_SHIFT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 349) t |= ADIS16334_RATE_INT_CLK;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 350)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 351) return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 352) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 353)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 354) static int adis16400_get_freq(struct adis16400_state *st)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 355) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 356) int sps, ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 357) uint16_t t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 358)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 359) ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 360) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 361) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 362)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 363) sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 364) sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 365)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 366) return sps;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 367) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 368)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 369) static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 370) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 371) unsigned int t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 372) uint8_t val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 373)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 374) t = 1638404 / freq;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 375) if (t >= 128) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 376) val |= ADIS16400_SMPL_PRD_TIME_BASE;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 377) t = 52851 / freq;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 378) if (t >= 128)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 379) t = 127;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 380) } else if (t != 0) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 381) t--;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 382) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 383)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 384) val |= t;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 385)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 386) if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 387) st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 388) else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 389) st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 390)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 391) return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 392) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 393)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 394) static const unsigned int adis16400_3db_divisors[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 395) [0] = 2, /* Special case */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 396) [1] = 6,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 397) [2] = 12,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 398) [3] = 25,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 399) [4] = 50,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 400) [5] = 100,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 401) [6] = 200,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 402) [7] = 200, /* Not a valid setting */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 403) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 404)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 405) static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 406) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 407) struct adis16400_state *st = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 408) uint16_t val16;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 409) int i, ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 410)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 411) for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 412) if (sps / adis16400_3db_divisors[i] >= val)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 413) break;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 414) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 415)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 416) ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 417) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 418) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 419)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 420) ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 421) (val16 & ~0x07) | i);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 422) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 423) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 424)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 425) /* Power down the device */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 426) static int adis16400_stop_device(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 427) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 428) struct adis16400_state *st = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 429) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 430)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 431) ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 432) ADIS16400_SLP_CNT_POWER_OFF);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 433) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 434) dev_err(&indio_dev->dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 435) "problem with turning device off: SLP_CNT");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 436)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 437) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 438) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 439)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 440) static int adis16400_initial_setup(struct iio_dev *indio_dev)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 441) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 442) struct adis16400_state *st = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 443) uint16_t prod_id, smp_prd;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 444) unsigned int device_id;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 445) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 446)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 447) /* use low spi speed for init if the device has a slow mode */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 448) if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 449) st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 450) else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 451) st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 452) st->adis.spi->mode = SPI_MODE_3;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 453) spi_setup(st->adis.spi);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 454)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 455) ret = adis_initial_startup(&st->adis);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 456) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 457) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 458)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 459) if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 460) ret = adis_read_reg_16(&st->adis,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 461) ADIS16400_PRODUCT_ID, &prod_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 462) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 463) goto err_ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 464)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 465) if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 466) ret = -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 467) goto err_ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 468) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 469)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 470) if (prod_id != device_id)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 471) dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 472) device_id, prod_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 473)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 474) dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 475) indio_dev->name, prod_id,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 476) st->adis.spi->chip_select, st->adis.spi->irq);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 477) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 478) /* use high spi speed if possible */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 479) if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 480) ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 481) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 482) goto err_ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 483)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 484) if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 485) st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 486) spi_setup(st->adis.spi);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 487) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 488) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 489)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 490) err_ret:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 491) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 492) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 493)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 494) static const uint8_t adis16400_addresses[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 495) [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 496) [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 497) [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 498) [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 499) [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 500) [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
^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 int adis16400_write_raw(struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 504) struct iio_chan_spec const *chan, int val, int val2, long info)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 505) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 506) struct adis16400_state *st = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 507) struct mutex *slock = &st->adis.state_lock;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 508) int ret, sps;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 509)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 510) switch (info) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 511) case IIO_CHAN_INFO_CALIBBIAS:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 512) ret = adis_write_reg_16(&st->adis,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 513) adis16400_addresses[chan->scan_index], val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 514) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 515) case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 516) /*
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 517) * Need to cache values so we can update if the frequency
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 518) * changes.
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 519) */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 520) mutex_lock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 521) st->filt_int = val;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 522) /* Work out update to current value */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 523) sps = st->variant->get_freq(st);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 524) if (sps < 0) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 525) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 526) return sps;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 527) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 528)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 529) ret = __adis16400_set_filter(indio_dev, sps,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 530) val * 1000 + val2 / 1000);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 531) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 532) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 533) case IIO_CHAN_INFO_SAMP_FREQ:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 534) sps = val * 1000 + val2 / 1000;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 535)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 536) if (sps <= 0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 537) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 538)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 539) mutex_lock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 540) ret = st->variant->set_freq(st, sps);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 541) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 542) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 543) default:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 544) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 545) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 546) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 547)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 548) static int adis16400_read_raw(struct iio_dev *indio_dev,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 549) struct iio_chan_spec const *chan, int *val, int *val2, long info)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 550) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 551) struct adis16400_state *st = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 552) struct mutex *slock = &st->adis.state_lock;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 553) int16_t val16;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 554) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 555)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 556) switch (info) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 557) case IIO_CHAN_INFO_RAW:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 558) return adis_single_conversion(indio_dev, chan, 0, val);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 559) case IIO_CHAN_INFO_SCALE:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 560) switch (chan->type) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 561) case IIO_ANGL_VEL:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 562) *val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 563) *val2 = st->variant->gyro_scale_micro;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 564) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 565) case IIO_VOLTAGE:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 566) *val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 567) if (chan->channel == 0) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 568) *val = 2;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 569) *val2 = 418000; /* 2.418 mV */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 570) } else {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 571) *val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 572) *val2 = 805800; /* 805.8 uV */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 573) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 574) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 575) case IIO_ACCEL:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 576) *val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 577) *val2 = st->variant->accel_scale_micro;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 578) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 579) case IIO_MAGN:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 580) *val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 581) *val2 = 500; /* 0.5 mgauss */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 582) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 583) case IIO_TEMP:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 584) *val = st->variant->temp_scale_nano / 1000000;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 585) *val2 = (st->variant->temp_scale_nano % 1000000);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 586) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 587) case IIO_PRESSURE:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 588) /* 20 uBar = 0.002kPascal */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 589) *val = 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 590) *val2 = 2000;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 591) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 592) default:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 593) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 594) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 595) case IIO_CHAN_INFO_CALIBBIAS:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 596) ret = adis_read_reg_16(&st->adis,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 597) adis16400_addresses[chan->scan_index], &val16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 598) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 599) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 600) val16 = sign_extend32(val16, 11);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 601) *val = val16;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 602) return IIO_VAL_INT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 603) case IIO_CHAN_INFO_OFFSET:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 604) /* currently only temperature */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 605) *val = st->variant->temp_offset;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 606) return IIO_VAL_INT;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 607) case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 608) mutex_lock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 609) /* Need both the number of taps and the sampling frequency */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 610) ret = __adis_read_reg_16(&st->adis,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 611) ADIS16400_SENS_AVG,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 612) &val16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 613) if (ret) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 614) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 615) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 616) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 617) ret = st->variant->get_freq(st);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 618) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 619) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 620) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 621) ret /= adis16400_3db_divisors[val16 & 0x07];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 622) *val = ret / 1000;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 623) *val2 = (ret % 1000) * 1000;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 624) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 625) case IIO_CHAN_INFO_SAMP_FREQ:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 626) mutex_lock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 627) ret = st->variant->get_freq(st);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 628) mutex_unlock(slock);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 629) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 630) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 631) *val = ret / 1000;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 632) *val2 = (ret % 1000) * 1000;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 633) return IIO_VAL_INT_PLUS_MICRO;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 634) default:
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 635) return -EINVAL;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 636) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 637) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 638)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 639) #if IS_ENABLED(CONFIG_IIO_BUFFER)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 640) static irqreturn_t adis16400_trigger_handler(int irq, void *p)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 641) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 642) struct iio_poll_func *pf = p;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 643) struct iio_dev *indio_dev = pf->indio_dev;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 644) struct adis16400_state *st = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 645) struct adis *adis = &st->adis;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 646) u32 old_speed_hz = st->adis.spi->max_speed_hz;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 647) void *buffer;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 648) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 649)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 650) if (!(st->variant->flags & ADIS16400_NO_BURST) &&
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 651) st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 652) st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 653) spi_setup(st->adis.spi);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 654) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 655)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 656) ret = spi_sync(adis->spi, &adis->msg);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 657) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 658) dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 659)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 660) if (!(st->variant->flags & ADIS16400_NO_BURST)) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 661) st->adis.spi->max_speed_hz = old_speed_hz;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 662) spi_setup(st->adis.spi);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 663) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 664)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 665) if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 666) buffer = adis->buffer + sizeof(u16);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 667) else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 668) buffer = adis->buffer;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 669)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 670) iio_push_to_buffers_with_timestamp(indio_dev, buffer,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 671) pf->timestamp);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 672)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 673) iio_trigger_notify_done(indio_dev->trig);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 674)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 675) return IRQ_HANDLED;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 676) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 677) #else
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 678) #define adis16400_trigger_handler NULL
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 679) #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 680)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 681) #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 682) .type = IIO_VOLTAGE, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 683) .indexed = 1, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 684) .channel = chn, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 685) .extend_name = name, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 686) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 687) BIT(IIO_CHAN_INFO_SCALE), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 688) .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 689) .address = (addr), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 690) .scan_index = (si), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 691) .scan_type = { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 692) .sign = 'u', \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 693) .realbits = (bits), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 694) .storagebits = 16, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 695) .shift = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 696) .endianness = IIO_BE, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 697) }, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 698) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 699)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 700) #define ADIS16400_SUPPLY_CHAN(addr, bits) \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 701) ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 702)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 703) #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 704) ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 705)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 706) #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 707) .type = IIO_ANGL_VEL, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 708) .modified = 1, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 709) .channel2 = IIO_MOD_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 710) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 711) BIT(IIO_CHAN_INFO_CALIBBIAS), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 712) .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 713) BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 714) .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 715) .address = addr, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 716) .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 717) .scan_type = { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 718) .sign = 's', \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 719) .realbits = (bits), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 720) .storagebits = 16, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 721) .shift = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 722) .endianness = IIO_BE, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 723) }, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 724) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 725)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 726) #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 727) .type = IIO_ACCEL, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 728) .modified = 1, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 729) .channel2 = IIO_MOD_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 730) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 731) BIT(IIO_CHAN_INFO_CALIBBIAS), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 732) .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 733) BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 734) .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 735) .address = (addr), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 736) .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 737) .scan_type = { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 738) .sign = 's', \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 739) .realbits = (bits), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 740) .storagebits = 16, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 741) .shift = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 742) .endianness = IIO_BE, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 743) }, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 744) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 745)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 746) #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 747) .type = IIO_MAGN, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 748) .modified = 1, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 749) .channel2 = IIO_MOD_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 750) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 751) .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 752) BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 753) .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 754) .address = (addr), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 755) .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 756) .scan_type = { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 757) .sign = 's', \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 758) .realbits = (bits), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 759) .storagebits = 16, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 760) .shift = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 761) .endianness = IIO_BE, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 762) }, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 763) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 764)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 765) #define ADIS16400_MOD_TEMP_NAME_X "x"
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 766) #define ADIS16400_MOD_TEMP_NAME_Y "y"
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 767) #define ADIS16400_MOD_TEMP_NAME_Z "z"
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 768)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 769) #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 770) .type = IIO_TEMP, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 771) .indexed = 1, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 772) .channel = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 773) .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 774) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 775) BIT(IIO_CHAN_INFO_OFFSET) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 776) BIT(IIO_CHAN_INFO_SCALE), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 777) .info_mask_shared_by_type = \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 778) BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 779) .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 780) .address = (addr), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 781) .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 782) .scan_type = { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 783) .sign = 's', \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 784) .realbits = (bits), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 785) .storagebits = 16, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 786) .shift = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 787) .endianness = IIO_BE, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 788) }, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 789) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 790)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 791) #define ADIS16400_TEMP_CHAN(addr, bits) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 792) .type = IIO_TEMP, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 793) .indexed = 1, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 794) .channel = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 795) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 796) BIT(IIO_CHAN_INFO_OFFSET) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 797) BIT(IIO_CHAN_INFO_SCALE), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 798) .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 799) .address = (addr), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 800) .scan_index = ADIS16350_SCAN_TEMP_X, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 801) .scan_type = { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 802) .sign = 's', \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 803) .realbits = (bits), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 804) .storagebits = 16, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 805) .shift = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 806) .endianness = IIO_BE, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 807) }, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 808) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 809)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 810) #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 811) .type = IIO_INCLI, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 812) .modified = 1, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 813) .channel2 = IIO_MOD_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 814) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 815) .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 816) .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 817) .address = (addr), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 818) .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 819) .scan_type = { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 820) .sign = 's', \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 821) .realbits = (bits), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 822) .storagebits = 16, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 823) .shift = 0, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 824) .endianness = IIO_BE, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 825) }, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 826) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 827)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 828) static const struct iio_chan_spec adis16400_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 829) ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 830) ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 831) ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 832) ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 833) ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 834) ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 835) ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 836) ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 837) ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 838) ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 839) ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 840) ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 841) IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 842) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 843)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 844) static const struct iio_chan_spec adis16445_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 845) ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 846) ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 847) ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 848) ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 849) ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 850) ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 851) ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 852) IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 853) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 854)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 855) static const struct iio_chan_spec adis16448_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 856) ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 857) ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 858) ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 859) ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 860) ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 861) ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 862) ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 863) ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 864) ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 865) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 866) .type = IIO_PRESSURE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 867) .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 868) .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 869) .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 870) .address = ADIS16448_BARO_OUT,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 871) .scan_index = ADIS16400_SCAN_BARO,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 872) .scan_type = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 873) .sign = 's',
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 874) .realbits = 16,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 875) .storagebits = 16,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 876) .endianness = IIO_BE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 877) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 878) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 879) ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 880) IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 881) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 882)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 883) static const struct iio_chan_spec adis16350_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 884) ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 885) ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 886) ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 887) ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 888) ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 889) ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 890) ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 891) ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 892) ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 893) ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 894) ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 895) ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 896) ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 897) ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 898) IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 899) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 900)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 901) static const struct iio_chan_spec adis16300_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 902) ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 903) ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 904) ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 905) ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 906) ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 907) ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 908) ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 909) ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 910) ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 911) IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 912) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 913)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 914) static const struct iio_chan_spec adis16334_channels[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 915) ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 916) ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 917) ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 918) ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 919) ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 920) ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 921) ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 922) IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 923) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 924)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 925) static const char * const adis16400_status_error_msgs[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 926) [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 927) [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 928) [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 929) [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 930) [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 931) [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 932) [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 933) [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 934) [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 935) [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 936) [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 937) [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 938) [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 939) [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 940) [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 941) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 942)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 943) #define ADIS16400_DATA(_timeouts, _burst_len) \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 944) { \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 945) .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 946) .glob_cmd_reg = ADIS16400_GLOB_CMD, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 947) .diag_stat_reg = ADIS16400_DIAG_STAT, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 948) .read_delay = 50, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 949) .write_delay = 50, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 950) .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 951) .self_test_reg = ADIS16400_MSC_CTRL, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 952) .status_error_msgs = adis16400_status_error_msgs, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 953) .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 954) BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 955) BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 956) BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 957) BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 958) BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 959) BIT(ADIS16400_DIAG_STAT_ALARM2) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 960) BIT(ADIS16400_DIAG_STAT_ALARM1) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 961) BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 962) BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 963) BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 964) BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 965) BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 966) BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 967) BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 968) .timeouts = (_timeouts), \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 969) .burst_reg_cmd = ADIS16400_GLOB_CMD, \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 970) .burst_len = (_burst_len) \
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 971) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 972)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 973) static const struct adis_timeout adis16300_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 974) .reset_ms = ADIS16400_STARTUP_DELAY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 975) .sw_reset_ms = ADIS16400_STARTUP_DELAY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 976) .self_test_ms = ADIS16400_STARTUP_DELAY,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 977) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 978)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 979) static const struct adis_timeout adis16334_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 980) .reset_ms = 60,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 981) .sw_reset_ms = 60,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 982) .self_test_ms = 14,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 983) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 984)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 985) static const struct adis_timeout adis16362_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 986) .reset_ms = 130,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 987) .sw_reset_ms = 130,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 988) .self_test_ms = 12,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 989) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 990)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 991) static const struct adis_timeout adis16400_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 992) .reset_ms = 170,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 993) .sw_reset_ms = 170,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 994) .self_test_ms = 12,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 995) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 996)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 997) static const struct adis_timeout adis16445_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 998) .reset_ms = 55,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 999) .sw_reset_ms = 55,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1000) .self_test_ms = 16,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1001) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1002)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1003) static const struct adis_timeout adis16448_timeouts = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1004) .reset_ms = 90,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1005) .sw_reset_ms = 90,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1006) .self_test_ms = 45,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1007) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1008)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1009) static struct adis16400_chip_info adis16400_chips[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1010) [ADIS16300] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1011) .channels = adis16300_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1012) .num_channels = ARRAY_SIZE(adis16300_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1013) .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1014) ADIS16400_HAS_SERIAL_NUMBER,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1015) .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1016) .accel_scale_micro = 5884,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1017) .temp_scale_nano = 140000000, /* 0.14 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1018) .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1019) .set_freq = adis16400_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1020) .get_freq = adis16400_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1021) .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1022) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1023) [ADIS16334] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1024) .channels = adis16334_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1025) .num_channels = ARRAY_SIZE(adis16334_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1026) .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1027) ADIS16400_HAS_SERIAL_NUMBER,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1028) .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1029) .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1030) .temp_scale_nano = 67850000, /* 0.06785 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1031) .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1032) .set_freq = adis16334_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1033) .get_freq = adis16334_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1034) .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1035) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1036) [ADIS16350] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1037) .channels = adis16350_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1038) .num_channels = ARRAY_SIZE(adis16350_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1039) .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1040) .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1041) .temp_scale_nano = 145300000, /* 0.1453 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1042) .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1043) .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1044) .set_freq = adis16400_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1045) .get_freq = adis16400_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1046) .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1047) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1048) [ADIS16360] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1049) .channels = adis16350_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1050) .num_channels = ARRAY_SIZE(adis16350_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1051) .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1052) ADIS16400_HAS_SERIAL_NUMBER,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1053) .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1054) .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1055) .temp_scale_nano = 136000000, /* 0.136 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1056) .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1057) .set_freq = adis16400_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1058) .get_freq = adis16400_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1059) .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1060) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1061) [ADIS16362] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1062) .channels = adis16350_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1063) .num_channels = ARRAY_SIZE(adis16350_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1064) .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1065) ADIS16400_HAS_SERIAL_NUMBER,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1066) .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1067) .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1068) .temp_scale_nano = 136000000, /* 0.136 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1069) .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1070) .set_freq = adis16400_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1071) .get_freq = adis16400_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1072) .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1073) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1074) [ADIS16364] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1075) .channels = adis16350_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1076) .num_channels = ARRAY_SIZE(adis16350_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1077) .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1078) ADIS16400_HAS_SERIAL_NUMBER,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1079) .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1080) .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1081) .temp_scale_nano = 136000000, /* 0.136 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1082) .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1083) .set_freq = adis16400_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1084) .get_freq = adis16400_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1085) .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1086) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1087) [ADIS16367] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1088) .channels = adis16350_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1089) .num_channels = ARRAY_SIZE(adis16350_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1090) .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1091) ADIS16400_HAS_SERIAL_NUMBER,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1092) .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1093) .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1094) .temp_scale_nano = 136000000, /* 0.136 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1095) .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1096) .set_freq = adis16400_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1097) .get_freq = adis16400_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1098) .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1099) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1100) [ADIS16400] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1101) .channels = adis16400_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1102) .num_channels = ARRAY_SIZE(adis16400_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1103) .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1104) .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1105) .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1106) .temp_scale_nano = 140000000, /* 0.14 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1107) .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1108) .set_freq = adis16400_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1109) .get_freq = adis16400_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1110) .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1111) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1112) [ADIS16445] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1113) .channels = adis16445_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1114) .num_channels = ARRAY_SIZE(adis16445_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1115) .flags = ADIS16400_HAS_PROD_ID |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1116) ADIS16400_HAS_SERIAL_NUMBER |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1117) ADIS16400_BURST_DIAG_STAT,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1118) .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1119) .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1120) .temp_scale_nano = 73860000, /* 0.07386 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1121) .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1122) .set_freq = adis16334_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1123) .get_freq = adis16334_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1124) .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1125) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1126) [ADIS16448] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1127) .channels = adis16448_channels,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1128) .num_channels = ARRAY_SIZE(adis16448_channels),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1129) .flags = ADIS16400_HAS_PROD_ID |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1130) ADIS16400_HAS_SERIAL_NUMBER |
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1131) ADIS16400_BURST_DIAG_STAT,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1132) .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1133) .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1134) .temp_scale_nano = 73860000, /* 0.07386 C */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1135) .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1136) .set_freq = adis16334_set_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1137) .get_freq = adis16334_get_freq,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1138) .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1139) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1140) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1141)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1142) static const struct iio_info adis16400_info = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1143) .read_raw = &adis16400_read_raw,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1144) .write_raw = &adis16400_write_raw,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1145) .update_scan_mode = adis_update_scan_mode,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1146) .debugfs_reg_access = adis_debugfs_reg_access,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1147) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1148)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1149) static void adis16400_setup_chan_mask(struct adis16400_state *st)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1150) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1151) const struct adis16400_chip_info *chip_info = st->variant;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1152) unsigned int i;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1153)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1154) for (i = 0; i < chip_info->num_channels; i++) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1155) const struct iio_chan_spec *ch = &chip_info->channels[i];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1156)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1157) if (ch->scan_index >= 0 &&
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1158) ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1159) st->avail_scan_mask[0] |= BIT(ch->scan_index);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1160) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1161) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1162)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1163) static void adis16400_stop(void *data)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1164) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1165) adis16400_stop_device(data);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1166) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1167)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1168) static int adis16400_probe(struct spi_device *spi)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1169) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1170) struct adis16400_state *st;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1171) struct iio_dev *indio_dev;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1172) int ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1173) const struct adis_data *adis16400_data;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1174)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1175) indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1176) if (indio_dev == NULL)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1177) return -ENOMEM;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1178)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1179) st = iio_priv(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1180) /* this is only used for removal purposes */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1181) spi_set_drvdata(spi, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1182)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1183) /* setup the industrialio driver allocated elements */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1184) st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1185) indio_dev->name = spi_get_device_id(spi)->name;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1186) indio_dev->channels = st->variant->channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1187) indio_dev->num_channels = st->variant->num_channels;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1188) indio_dev->info = &adis16400_info;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1189) indio_dev->modes = INDIO_DIRECT_MODE;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1190)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1191) if (!(st->variant->flags & ADIS16400_NO_BURST)) {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1192) adis16400_setup_chan_mask(st);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1193) indio_dev->available_scan_masks = st->avail_scan_mask;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1194) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1195)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1196) adis16400_data = &st->variant->adis_data;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1197)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1198) ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1199) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1200) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1201)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1202) ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1203) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1204) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1205)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1206) /* Get the device into a sane initial state */
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1207) ret = adis16400_initial_setup(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1208) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1209) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1210)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1211) ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1212) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1213) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1214)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1215) ret = devm_iio_device_register(&spi->dev, indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1216) if (ret)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1217) return ret;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1218)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1219) adis16400_debugfs_init(indio_dev);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1220) return 0;
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1221) }
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1222)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1223) static const struct spi_device_id adis16400_id[] = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1224) {"adis16300", ADIS16300},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1225) {"adis16305", ADIS16300},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1226) {"adis16334", ADIS16334},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1227) {"adis16350", ADIS16350},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1228) {"adis16354", ADIS16350},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1229) {"adis16355", ADIS16350},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1230) {"adis16360", ADIS16360},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1231) {"adis16362", ADIS16362},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1232) {"adis16364", ADIS16364},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1233) {"adis16365", ADIS16360},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1234) {"adis16367", ADIS16367},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1235) {"adis16400", ADIS16400},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1236) {"adis16405", ADIS16400},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1237) {"adis16445", ADIS16445},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1238) {"adis16448", ADIS16448},
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1239) {}
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1240) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1241) MODULE_DEVICE_TABLE(spi, adis16400_id);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1242)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1243) static struct spi_driver adis16400_driver = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1244) .driver = {
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1245) .name = "adis16400",
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1246) },
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1247) .id_table = adis16400_id,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1248) .probe = adis16400_probe,
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1249) };
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1250) module_spi_driver(adis16400_driver);
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1251)
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1252) MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1253) MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
^8f3ce5b39 (kx 2023-10-28 12:00:06 +0300 1254) MODULE_LICENSE("GPL v2");
Orange Pi5 kernel
Deprecated Linux kernel 5.10.110 for OrangePi 5/5B/5+ boards
3 Commits
0 Branches
0 Tags