1002 lines
28 KiB
C
1002 lines
28 KiB
C
/*
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* adis16400.c support Analog Devices ADIS16400/5
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* 3d 2g Linear Accelerometers,
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* 3d Gyroscopes,
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* 3d Magnetometers via SPI
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*
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* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
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* Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
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* Copyright (c) 2011 Analog Devices Inc.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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*/
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/list.h>
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#include <linux/module.h>
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#include <linux/debugfs.h>
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#include <linux/bitops.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/sysfs.h>
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#include <linux/iio/buffer.h>
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#include "adis16400.h"
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#ifdef CONFIG_DEBUG_FS
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static ssize_t adis16400_show_serial_number(struct file *file,
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char __user *userbuf, size_t count, loff_t *ppos)
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{
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struct adis16400_state *st = file->private_data;
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u16 lot1, lot2, serial_number;
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char buf[16];
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size_t len;
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int ret;
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ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
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if (ret < 0)
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return ret;
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ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
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if (ret < 0)
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return ret;
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ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
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&serial_number);
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if (ret < 0)
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return ret;
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len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
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serial_number);
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return simple_read_from_buffer(userbuf, count, ppos, buf, len);
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}
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static const struct file_operations adis16400_serial_number_fops = {
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.open = simple_open,
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.read = adis16400_show_serial_number,
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.llseek = default_llseek,
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.owner = THIS_MODULE,
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};
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static int adis16400_show_product_id(void *arg, u64 *val)
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{
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struct adis16400_state *st = arg;
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uint16_t prod_id;
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int ret;
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ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
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if (ret < 0)
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return ret;
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*val = prod_id;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
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adis16400_show_product_id, NULL, "%lld\n");
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static int adis16400_show_flash_count(void *arg, u64 *val)
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{
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struct adis16400_state *st = arg;
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uint16_t flash_count;
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int ret;
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ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
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if (ret < 0)
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return ret;
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*val = flash_count;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
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adis16400_show_flash_count, NULL, "%lld\n");
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static int adis16400_debugfs_init(struct iio_dev *indio_dev)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
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debugfs_create_file("serial_number", 0400,
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indio_dev->debugfs_dentry, st,
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&adis16400_serial_number_fops);
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if (st->variant->flags & ADIS16400_HAS_PROD_ID)
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debugfs_create_file("product_id", 0400,
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indio_dev->debugfs_dentry, st,
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&adis16400_product_id_fops);
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debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
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st, &adis16400_flash_count_fops);
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return 0;
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}
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#else
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static int adis16400_debugfs_init(struct iio_dev *indio_dev)
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{
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return 0;
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}
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#endif
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enum adis16400_chip_variant {
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ADIS16300,
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ADIS16334,
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ADIS16350,
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ADIS16360,
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ADIS16362,
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ADIS16364,
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ADIS16367,
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ADIS16400,
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ADIS16445,
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ADIS16448,
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};
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static int adis16334_get_freq(struct adis16400_state *st)
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{
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int ret;
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uint16_t t;
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ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
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if (ret < 0)
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return ret;
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t >>= ADIS16334_RATE_DIV_SHIFT;
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return 819200 >> t;
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}
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static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
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{
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unsigned int t;
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if (freq < 819200)
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t = ilog2(819200 / freq);
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else
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t = 0;
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if (t > 0x31)
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t = 0x31;
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t <<= ADIS16334_RATE_DIV_SHIFT;
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t |= ADIS16334_RATE_INT_CLK;
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return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
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}
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static int adis16400_get_freq(struct adis16400_state *st)
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{
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int sps, ret;
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uint16_t t;
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ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
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if (ret < 0)
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return ret;
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sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
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sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
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return sps;
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}
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static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
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{
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unsigned int t;
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uint8_t val = 0;
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t = 1638404 / freq;
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if (t >= 128) {
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val |= ADIS16400_SMPL_PRD_TIME_BASE;
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t = 52851 / freq;
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if (t >= 128)
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t = 127;
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} else if (t != 0) {
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t--;
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}
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val |= t;
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if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
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st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
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else
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st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
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return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
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}
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static const unsigned int adis16400_3db_divisors[] = {
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[0] = 2, /* Special case */
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[1] = 6,
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[2] = 12,
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[3] = 25,
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[4] = 50,
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[5] = 100,
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[6] = 200,
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[7] = 200, /* Not a valid setting */
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};
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static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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uint16_t val16;
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int i, ret;
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for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
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if (sps / adis16400_3db_divisors[i] >= val)
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break;
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}
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ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
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if (ret < 0)
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return ret;
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ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
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(val16 & ~0x07) | i);
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return ret;
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}
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/* Power down the device */
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static int adis16400_stop_device(struct iio_dev *indio_dev)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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int ret;
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ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
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ADIS16400_SLP_CNT_POWER_OFF);
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if (ret)
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dev_err(&indio_dev->dev,
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"problem with turning device off: SLP_CNT");
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return ret;
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}
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static int adis16400_initial_setup(struct iio_dev *indio_dev)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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uint16_t prod_id, smp_prd;
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unsigned int device_id;
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int ret;
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/* use low spi speed for init if the device has a slow mode */
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if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
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st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
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else
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st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
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st->adis.spi->mode = SPI_MODE_3;
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spi_setup(st->adis.spi);
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ret = adis_initial_startup(&st->adis);
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if (ret)
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return ret;
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if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
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ret = adis_read_reg_16(&st->adis,
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ADIS16400_PRODUCT_ID, &prod_id);
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if (ret)
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goto err_ret;
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ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
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if (ret != 1) {
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ret = -EINVAL;
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goto err_ret;
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}
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if (prod_id != device_id)
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dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
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device_id, prod_id);
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dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
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indio_dev->name, prod_id,
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st->adis.spi->chip_select, st->adis.spi->irq);
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}
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/* use high spi speed if possible */
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if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
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ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
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if (ret)
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goto err_ret;
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if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
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st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
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spi_setup(st->adis.spi);
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}
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}
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err_ret:
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return ret;
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}
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static const uint8_t adis16400_addresses[] = {
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[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
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[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
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[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
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[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
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[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
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[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
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};
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static int adis16400_write_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan, int val, int val2, long info)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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int ret, sps;
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switch (info) {
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case IIO_CHAN_INFO_CALIBBIAS:
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mutex_lock(&indio_dev->mlock);
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ret = adis_write_reg_16(&st->adis,
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adis16400_addresses[chan->scan_index], val);
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mutex_unlock(&indio_dev->mlock);
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return ret;
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
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/*
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* Need to cache values so we can update if the frequency
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* changes.
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*/
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mutex_lock(&indio_dev->mlock);
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st->filt_int = val;
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/* Work out update to current value */
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sps = st->variant->get_freq(st);
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if (sps < 0) {
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mutex_unlock(&indio_dev->mlock);
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return sps;
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}
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ret = adis16400_set_filter(indio_dev, sps,
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val * 1000 + val2 / 1000);
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mutex_unlock(&indio_dev->mlock);
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return ret;
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case IIO_CHAN_INFO_SAMP_FREQ:
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sps = val * 1000 + val2 / 1000;
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if (sps <= 0)
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return -EINVAL;
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mutex_lock(&indio_dev->mlock);
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ret = st->variant->set_freq(st, sps);
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mutex_unlock(&indio_dev->mlock);
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return ret;
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default:
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return -EINVAL;
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}
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}
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static int adis16400_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan, int *val, int *val2, long info)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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int16_t val16;
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int ret;
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switch (info) {
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case IIO_CHAN_INFO_RAW:
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return adis_single_conversion(indio_dev, chan, 0, val);
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_ANGL_VEL:
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*val = 0;
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*val2 = st->variant->gyro_scale_micro;
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_VOLTAGE:
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*val = 0;
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if (chan->channel == 0) {
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*val = 2;
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*val2 = 418000; /* 2.418 mV */
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} else {
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*val = 0;
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*val2 = 805800; /* 805.8 uV */
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}
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_ACCEL:
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*val = 0;
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*val2 = st->variant->accel_scale_micro;
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_MAGN:
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*val = 0;
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*val2 = 500; /* 0.5 mgauss */
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_TEMP:
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*val = st->variant->temp_scale_nano / 1000000;
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*val2 = (st->variant->temp_scale_nano % 1000000);
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_PRESSURE:
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/* 20 uBar = 0.002kPascal */
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*val = 0;
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*val2 = 2000;
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_CALIBBIAS:
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mutex_lock(&indio_dev->mlock);
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ret = adis_read_reg_16(&st->adis,
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adis16400_addresses[chan->scan_index], &val16);
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mutex_unlock(&indio_dev->mlock);
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if (ret)
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return ret;
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val16 = sign_extend32(val16, 11);
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*val = val16;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_OFFSET:
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/* currently only temperature */
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*val = st->variant->temp_offset;
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
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mutex_lock(&indio_dev->mlock);
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/* Need both the number of taps and the sampling frequency */
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ret = adis_read_reg_16(&st->adis,
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ADIS16400_SENS_AVG,
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&val16);
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if (ret < 0) {
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mutex_unlock(&indio_dev->mlock);
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return ret;
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}
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ret = st->variant->get_freq(st);
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if (ret >= 0) {
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ret /= adis16400_3db_divisors[val16 & 0x07];
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*val = ret / 1000;
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*val2 = (ret % 1000) * 1000;
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}
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mutex_unlock(&indio_dev->mlock);
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if (ret < 0)
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return ret;
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_CHAN_INFO_SAMP_FREQ:
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ret = st->variant->get_freq(st);
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if (ret < 0)
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return ret;
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*val = ret / 1000;
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*val2 = (ret % 1000) * 1000;
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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}
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#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
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.type = IIO_VOLTAGE, \
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.indexed = 1, \
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.channel = chn, \
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.extend_name = name, \
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.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
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BIT(IIO_CHAN_INFO_SCALE), \
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.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
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.address = (addr), \
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.scan_index = (si), \
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.scan_type = { \
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.sign = 'u', \
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.realbits = (bits), \
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.storagebits = 16, \
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.shift = 0, \
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.endianness = IIO_BE, \
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}, \
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}
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#define ADIS16400_SUPPLY_CHAN(addr, bits) \
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ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
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#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
|
|
ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
|
|
|
|
#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
|
|
.type = IIO_ANGL_VEL, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = addr, \
|
|
.scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
|
|
.type = IIO_ACCEL, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16400_SCAN_ACC_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
|
|
.type = IIO_MAGN, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_MOD_TEMP_NAME_X "x"
|
|
#define ADIS16400_MOD_TEMP_NAME_Y "y"
|
|
#define ADIS16400_MOD_TEMP_NAME_Z "z"
|
|
|
|
#define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
|
|
.type = IIO_TEMP, \
|
|
.indexed = 1, \
|
|
.channel = 0, \
|
|
.extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_OFFSET) | \
|
|
BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_type = \
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_TEMP_CHAN(addr, bits) { \
|
|
.type = IIO_TEMP, \
|
|
.indexed = 1, \
|
|
.channel = 0, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_OFFSET) | \
|
|
BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16350_SCAN_TEMP_X, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
|
|
.type = IIO_INCLI, \
|
|
.modified = 1, \
|
|
.channel2 = IIO_MOD_ ## mod, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
|
|
.scan_type = { \
|
|
.sign = 's', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
static const struct iio_chan_spec adis16400_channels[] = {
|
|
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
|
|
ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
|
|
ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16445_channels[] = {
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
|
|
ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16448_channels[] = {
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
|
|
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
|
|
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
|
|
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
|
|
{
|
|
.type = IIO_PRESSURE,
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
|
|
.address = ADIS16448_BARO_OUT,
|
|
.scan_index = ADIS16400_SCAN_BARO,
|
|
.scan_type = {
|
|
.sign = 's',
|
|
.realbits = 16,
|
|
.storagebits = 16,
|
|
.endianness = IIO_BE,
|
|
},
|
|
},
|
|
ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16350_channels[] = {
|
|
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
|
|
ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
|
|
ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
|
|
ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
|
|
ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
|
|
ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16300_channels[] = {
|
|
ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
|
|
ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
|
|
ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
|
|
ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
|
|
ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static const struct iio_chan_spec adis16334_channels[] = {
|
|
ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
|
|
ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
|
|
ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
|
|
ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
|
|
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
|
|
};
|
|
|
|
static struct adis16400_chip_info adis16400_chips[] = {
|
|
[ADIS16300] = {
|
|
.channels = adis16300_channels,
|
|
.num_channels = ARRAY_SIZE(adis16300_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = 5884,
|
|
.temp_scale_nano = 140000000, /* 0.14 C */
|
|
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
},
|
|
[ADIS16334] = {
|
|
.channels = adis16334_channels,
|
|
.num_channels = ARRAY_SIZE(adis16334_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
|
|
.temp_scale_nano = 67850000, /* 0.06785 C */
|
|
.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
|
|
.set_freq = adis16334_set_freq,
|
|
.get_freq = adis16334_get_freq,
|
|
},
|
|
[ADIS16350] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
|
|
.temp_scale_nano = 145300000, /* 0.1453 C */
|
|
.temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
|
|
.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
},
|
|
[ADIS16360] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
|
|
.temp_scale_nano = 136000000, /* 0.136 C */
|
|
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
},
|
|
[ADIS16362] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
|
|
.temp_scale_nano = 136000000, /* 0.136 C */
|
|
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
},
|
|
[ADIS16364] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
|
|
.temp_scale_nano = 136000000, /* 0.136 C */
|
|
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
},
|
|
[ADIS16367] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
|
|
ADIS16400_HAS_SERIAL_NUMBER,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
|
|
.temp_scale_nano = 136000000, /* 0.136 C */
|
|
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
},
|
|
[ADIS16400] = {
|
|
.channels = adis16400_channels,
|
|
.num_channels = ARRAY_SIZE(adis16400_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
|
|
.temp_scale_nano = 140000000, /* 0.14 C */
|
|
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
|
|
.set_freq = adis16400_set_freq,
|
|
.get_freq = adis16400_get_freq,
|
|
},
|
|
[ADIS16445] = {
|
|
.channels = adis16445_channels,
|
|
.num_channels = ARRAY_SIZE(adis16445_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID |
|
|
ADIS16400_HAS_SERIAL_NUMBER |
|
|
ADIS16400_BURST_DIAG_STAT,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
|
|
.temp_scale_nano = 73860000, /* 0.07386 C */
|
|
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
|
|
.set_freq = adis16334_set_freq,
|
|
.get_freq = adis16334_get_freq,
|
|
},
|
|
[ADIS16448] = {
|
|
.channels = adis16448_channels,
|
|
.num_channels = ARRAY_SIZE(adis16448_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID |
|
|
ADIS16400_HAS_SERIAL_NUMBER |
|
|
ADIS16400_BURST_DIAG_STAT,
|
|
.gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
|
|
.accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
|
|
.temp_scale_nano = 73860000, /* 0.07386 C */
|
|
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
|
|
.set_freq = adis16334_set_freq,
|
|
.get_freq = adis16334_get_freq,
|
|
}
|
|
};
|
|
|
|
static const struct iio_info adis16400_info = {
|
|
.read_raw = &adis16400_read_raw,
|
|
.write_raw = &adis16400_write_raw,
|
|
.update_scan_mode = adis16400_update_scan_mode,
|
|
.debugfs_reg_access = adis_debugfs_reg_access,
|
|
};
|
|
|
|
static const char * const adis16400_status_error_msgs[] = {
|
|
[ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
|
|
[ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
|
|
[ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
|
|
[ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
|
|
[ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
|
|
[ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
|
|
[ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
|
|
[ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
|
|
[ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
|
|
[ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
|
|
[ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
|
|
[ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
|
|
[ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
|
|
[ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
|
|
[ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
|
|
};
|
|
|
|
static const struct adis_data adis16400_data = {
|
|
.msc_ctrl_reg = ADIS16400_MSC_CTRL,
|
|
.glob_cmd_reg = ADIS16400_GLOB_CMD,
|
|
.diag_stat_reg = ADIS16400_DIAG_STAT,
|
|
|
|
.read_delay = 50,
|
|
.write_delay = 50,
|
|
|
|
.self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
|
|
.startup_delay = ADIS16400_STARTUP_DELAY,
|
|
|
|
.status_error_msgs = adis16400_status_error_msgs,
|
|
.status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
|
|
BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
|
|
BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
|
|
BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
|
|
BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
|
|
BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
|
|
BIT(ADIS16400_DIAG_STAT_ALARM2) |
|
|
BIT(ADIS16400_DIAG_STAT_ALARM1) |
|
|
BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
|
|
BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
|
|
BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
|
|
BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
|
|
BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
|
|
BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
|
|
BIT(ADIS16400_DIAG_STAT_POWER_LOW),
|
|
};
|
|
|
|
static void adis16400_setup_chan_mask(struct adis16400_state *st)
|
|
{
|
|
const struct adis16400_chip_info *chip_info = st->variant;
|
|
unsigned int i;
|
|
|
|
for (i = 0; i < chip_info->num_channels; i++) {
|
|
const struct iio_chan_spec *ch = &chip_info->channels[i];
|
|
|
|
if (ch->scan_index >= 0 &&
|
|
ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
|
|
st->avail_scan_mask[0] |= BIT(ch->scan_index);
|
|
}
|
|
}
|
|
|
|
static int adis16400_probe(struct spi_device *spi)
|
|
{
|
|
struct adis16400_state *st;
|
|
struct iio_dev *indio_dev;
|
|
int ret;
|
|
|
|
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
|
|
if (indio_dev == NULL)
|
|
return -ENOMEM;
|
|
|
|
st = iio_priv(indio_dev);
|
|
/* this is only used for removal purposes */
|
|
spi_set_drvdata(spi, indio_dev);
|
|
|
|
/* setup the industrialio driver allocated elements */
|
|
st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
|
|
indio_dev->dev.parent = &spi->dev;
|
|
indio_dev->name = spi_get_device_id(spi)->name;
|
|
indio_dev->channels = st->variant->channels;
|
|
indio_dev->num_channels = st->variant->num_channels;
|
|
indio_dev->info = &adis16400_info;
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
if (!(st->variant->flags & ADIS16400_NO_BURST)) {
|
|
adis16400_setup_chan_mask(st);
|
|
indio_dev->available_scan_masks = st->avail_scan_mask;
|
|
}
|
|
|
|
ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
|
|
adis16400_trigger_handler);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* Get the device into a sane initial state */
|
|
ret = adis16400_initial_setup(indio_dev);
|
|
if (ret)
|
|
goto error_cleanup_buffer;
|
|
ret = iio_device_register(indio_dev);
|
|
if (ret)
|
|
goto error_cleanup_buffer;
|
|
|
|
adis16400_debugfs_init(indio_dev);
|
|
return 0;
|
|
|
|
error_cleanup_buffer:
|
|
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
|
return ret;
|
|
}
|
|
|
|
static int adis16400_remove(struct spi_device *spi)
|
|
{
|
|
struct iio_dev *indio_dev = spi_get_drvdata(spi);
|
|
struct adis16400_state *st = iio_priv(indio_dev);
|
|
|
|
iio_device_unregister(indio_dev);
|
|
adis16400_stop_device(indio_dev);
|
|
|
|
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static const struct spi_device_id adis16400_id[] = {
|
|
{"adis16300", ADIS16300},
|
|
{"adis16305", ADIS16300},
|
|
{"adis16334", ADIS16334},
|
|
{"adis16350", ADIS16350},
|
|
{"adis16354", ADIS16350},
|
|
{"adis16355", ADIS16350},
|
|
{"adis16360", ADIS16360},
|
|
{"adis16362", ADIS16362},
|
|
{"adis16364", ADIS16364},
|
|
{"adis16365", ADIS16360},
|
|
{"adis16367", ADIS16367},
|
|
{"adis16400", ADIS16400},
|
|
{"adis16405", ADIS16400},
|
|
{"adis16445", ADIS16445},
|
|
{"adis16448", ADIS16448},
|
|
{}
|
|
};
|
|
MODULE_DEVICE_TABLE(spi, adis16400_id);
|
|
|
|
static struct spi_driver adis16400_driver = {
|
|
.driver = {
|
|
.name = "adis16400",
|
|
},
|
|
.id_table = adis16400_id,
|
|
.probe = adis16400_probe,
|
|
.remove = adis16400_remove,
|
|
};
|
|
module_spi_driver(adis16400_driver);
|
|
|
|
MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
|
|
MODULE_LICENSE("GPL v2");
|