1 // SPDX-License-Identifier: GPL-2.0-only
3 * adis16400.c support Analog Devices ADIS16400/5
4 * 3d 2g Linear Accelerometers,
6 * 3d Magnetometers via SPI
8 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
9 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
10 * Copyright (c) 2011 Analog Devices Inc.
13 #include <linux/irq.h>
14 #include <linux/device.h>
15 #include <linux/kernel.h>
16 #include <linux/spi/spi.h>
17 #include <linux/module.h>
18 #include <linux/debugfs.h>
19 #include <linux/bitops.h>
21 #include <linux/iio/iio.h>
22 #include <linux/iio/buffer.h>
23 #include <linux/iio/trigger_consumer.h>
24 #include <linux/iio/imu/adis.h>
26 #define ADIS16400_STARTUP_DELAY 290 /* ms */
27 #define ADIS16400_MTEST_DELAY 90 /* ms */
29 #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
30 #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
31 #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
32 #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
33 #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
34 #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
35 #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
36 #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
37 #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
38 #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
39 #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
40 #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
41 #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
43 #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
44 #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
45 #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
47 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
48 #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
49 #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
51 #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
52 #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
54 /* Calibration parameters */
55 #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
56 #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
57 #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
58 #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
59 #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
60 #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
61 #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
62 #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
63 #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
64 #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
65 #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
66 #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
68 #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
69 #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
70 #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
71 #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
72 #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
73 #define ADIS16400_DIAG_STAT 0x3C /* System status */
76 #define ADIS16400_GLOB_CMD 0x3E /* System command */
77 #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
78 #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
79 #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
80 #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
81 #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
82 #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
84 #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
85 #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
86 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
87 #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
89 #define ADIS16400_ERROR_ACTIVE (1<<14)
90 #define ADIS16400_NEW_DATA (1<<14)
93 #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
94 #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
95 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
96 #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
97 #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
98 #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
99 #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
100 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
101 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
104 #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
105 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
108 #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
109 #define ADIS16400_DIAG_STAT_YACCL_FAIL 14
110 #define ADIS16400_DIAG_STAT_XACCL_FAIL 13
111 #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
112 #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
113 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
114 #define ADIS16400_DIAG_STAT_ALARM2 9
115 #define ADIS16400_DIAG_STAT_ALARM1 8
116 #define ADIS16400_DIAG_STAT_FLASH_CHK 6
117 #define ADIS16400_DIAG_STAT_SELF_TEST 5
118 #define ADIS16400_DIAG_STAT_OVERFLOW 4
119 #define ADIS16400_DIAG_STAT_SPI_FAIL 3
120 #define ADIS16400_DIAG_STAT_FLASH_UPT 2
121 #define ADIS16400_DIAG_STAT_POWER_HIGH 1
122 #define ADIS16400_DIAG_STAT_POWER_LOW 0
125 #define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
126 #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
127 #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
128 #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
129 #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
130 #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
133 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
135 #define ADIS16334_RATE_DIV_SHIFT 8
136 #define ADIS16334_RATE_INT_CLK BIT(0)
138 #define ADIS16400_SPI_SLOW (u32)(300 * 1000)
139 #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
140 #define ADIS16400_SPI_FAST (u32)(2000 * 1000)
142 #define ADIS16400_HAS_PROD_ID BIT(0)
143 #define ADIS16400_NO_BURST BIT(1)
144 #define ADIS16400_HAS_SLOW_MODE BIT(2)
145 #define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
146 #define ADIS16400_BURST_DIAG_STAT BIT(4)
148 struct adis16400_state;
150 struct adis16400_chip_info {
151 const struct iio_chan_spec *channels;
152 const struct adis_data adis_data;
153 const int num_channels;
155 unsigned int gyro_scale_micro;
156 unsigned int accel_scale_micro;
159 /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
160 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
161 int (*get_freq)(struct adis16400_state *st);
165 * struct adis16400_state - device instance specific data
166 * @variant: chip variant info
167 * @filt_int: integer part of requested filter frequency
169 * @avail_scan_mask: NULL terminated array of bitmaps of channels
170 * that must be enabled together
172 struct adis16400_state {
173 struct adis16400_chip_info *variant;
177 unsigned long avail_scan_mask[2];
180 /* At the moment triggers are only used for ring buffer
181 * filling. This may change!
185 ADIS16400_SCAN_SUPPLY,
186 ADIS16400_SCAN_GYRO_X,
187 ADIS16400_SCAN_GYRO_Y,
188 ADIS16400_SCAN_GYRO_Z,
189 ADIS16400_SCAN_ACC_X,
190 ADIS16400_SCAN_ACC_Y,
191 ADIS16400_SCAN_ACC_Z,
192 ADIS16400_SCAN_MAGN_X,
193 ADIS16400_SCAN_MAGN_Y,
194 ADIS16400_SCAN_MAGN_Z,
196 ADIS16350_SCAN_TEMP_X,
197 ADIS16350_SCAN_TEMP_Y,
198 ADIS16350_SCAN_TEMP_Z,
199 ADIS16300_SCAN_INCLI_X,
200 ADIS16300_SCAN_INCLI_Y,
202 ADIS16400_SCAN_TIMESTAMP,
205 #ifdef CONFIG_DEBUG_FS
207 static ssize_t adis16400_show_serial_number(struct file *file,
208 char __user *userbuf, size_t count, loff_t *ppos)
210 struct adis16400_state *st = file->private_data;
211 u16 lot1, lot2, serial_number;
216 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
220 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
224 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
229 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
232 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
235 static const struct file_operations adis16400_serial_number_fops = {
237 .read = adis16400_show_serial_number,
238 .llseek = default_llseek,
239 .owner = THIS_MODULE,
242 static int adis16400_show_product_id(void *arg, u64 *val)
244 struct adis16400_state *st = arg;
248 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
256 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops,
257 adis16400_show_product_id, NULL, "%lld\n");
259 static int adis16400_show_flash_count(void *arg, u64 *val)
261 struct adis16400_state *st = arg;
262 uint16_t flash_count;
265 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
273 DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops,
274 adis16400_show_flash_count, NULL, "%lld\n");
276 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
278 struct adis16400_state *st = iio_priv(indio_dev);
279 struct dentry *d = iio_get_debugfs_dentry(indio_dev);
281 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
282 debugfs_create_file_unsafe("serial_number", 0400,
283 d, st, &adis16400_serial_number_fops);
284 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
285 debugfs_create_file_unsafe("product_id", 0400,
286 d, st, &adis16400_product_id_fops);
287 debugfs_create_file_unsafe("flash_count", 0400,
288 d, st, &adis16400_flash_count_fops);
295 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
302 enum adis16400_chip_variant {
315 static int adis16334_get_freq(struct adis16400_state *st)
320 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
324 t >>= ADIS16334_RATE_DIV_SHIFT;
329 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
334 t = ilog2(819200 / freq);
341 t <<= ADIS16334_RATE_DIV_SHIFT;
342 t |= ADIS16334_RATE_INT_CLK;
344 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
347 static int adis16400_get_freq(struct adis16400_state *st)
352 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
356 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
357 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
362 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
369 val |= ADIS16400_SMPL_PRD_TIME_BASE;
379 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
380 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
382 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
384 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
387 static const unsigned int adis16400_3db_divisors[] = {
388 [0] = 2, /* Special case */
395 [7] = 200, /* Not a valid setting */
398 static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
400 struct adis16400_state *st = iio_priv(indio_dev);
404 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
405 if (sps / adis16400_3db_divisors[i] >= val)
409 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
413 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
414 (val16 & ~0x07) | i);
418 /* Power down the device */
419 static int adis16400_stop_device(struct iio_dev *indio_dev)
421 struct adis16400_state *st = iio_priv(indio_dev);
424 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
425 ADIS16400_SLP_CNT_POWER_OFF);
427 dev_err(&indio_dev->dev,
428 "problem with turning device off: SLP_CNT");
433 static int adis16400_initial_setup(struct iio_dev *indio_dev)
435 struct adis16400_state *st = iio_priv(indio_dev);
436 uint16_t prod_id, smp_prd;
437 unsigned int device_id;
440 /* use low spi speed for init if the device has a slow mode */
441 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
442 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
444 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
445 st->adis.spi->mode = SPI_MODE_3;
446 spi_setup(st->adis.spi);
448 ret = adis_initial_startup(&st->adis);
452 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
453 ret = adis_read_reg_16(&st->adis,
454 ADIS16400_PRODUCT_ID, &prod_id);
458 if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
463 if (prod_id != device_id)
464 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
467 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
468 indio_dev->name, prod_id,
469 st->adis.spi->chip_select, st->adis.spi->irq);
471 /* use high spi speed if possible */
472 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
473 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
477 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
478 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
479 spi_setup(st->adis.spi);
487 static const uint8_t adis16400_addresses[] = {
488 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
489 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
490 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
491 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
492 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
493 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
496 static int adis16400_write_raw(struct iio_dev *indio_dev,
497 struct iio_chan_spec const *chan, int val, int val2, long info)
499 struct adis16400_state *st = iio_priv(indio_dev);
503 case IIO_CHAN_INFO_CALIBBIAS:
504 ret = adis_write_reg_16(&st->adis,
505 adis16400_addresses[chan->scan_index], val);
507 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
509 * Need to cache values so we can update if the frequency
512 adis_dev_lock(&st->adis);
514 /* Work out update to current value */
515 sps = st->variant->get_freq(st);
517 adis_dev_unlock(&st->adis);
521 ret = __adis16400_set_filter(indio_dev, sps,
522 val * 1000 + val2 / 1000);
523 adis_dev_unlock(&st->adis);
525 case IIO_CHAN_INFO_SAMP_FREQ:
526 sps = val * 1000 + val2 / 1000;
531 adis_dev_lock(&st->adis);
532 ret = st->variant->set_freq(st, sps);
533 adis_dev_unlock(&st->adis);
540 static int adis16400_read_raw(struct iio_dev *indio_dev,
541 struct iio_chan_spec const *chan, int *val, int *val2, long info)
543 struct adis16400_state *st = iio_priv(indio_dev);
548 case IIO_CHAN_INFO_RAW:
549 return adis_single_conversion(indio_dev, chan, 0, val);
550 case IIO_CHAN_INFO_SCALE:
551 switch (chan->type) {
554 *val2 = st->variant->gyro_scale_micro;
555 return IIO_VAL_INT_PLUS_MICRO;
558 if (chan->channel == 0) {
560 *val2 = 418000; /* 2.418 mV */
563 *val2 = 805800; /* 805.8 uV */
565 return IIO_VAL_INT_PLUS_MICRO;
568 *val2 = st->variant->accel_scale_micro;
569 return IIO_VAL_INT_PLUS_MICRO;
572 *val2 = 500; /* 0.5 mgauss */
573 return IIO_VAL_INT_PLUS_MICRO;
575 *val = st->variant->temp_scale_nano / 1000000;
576 *val2 = (st->variant->temp_scale_nano % 1000000);
577 return IIO_VAL_INT_PLUS_MICRO;
579 /* 20 uBar = 0.002kPascal */
582 return IIO_VAL_INT_PLUS_MICRO;
586 case IIO_CHAN_INFO_CALIBBIAS:
587 ret = adis_read_reg_16(&st->adis,
588 adis16400_addresses[chan->scan_index], &val16);
591 val16 = sign_extend32(val16, 11);
594 case IIO_CHAN_INFO_OFFSET:
595 /* currently only temperature */
596 *val = st->variant->temp_offset;
598 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
599 adis_dev_lock(&st->adis);
600 /* Need both the number of taps and the sampling frequency */
601 ret = __adis_read_reg_16(&st->adis,
605 adis_dev_unlock(&st->adis);
608 ret = st->variant->get_freq(st);
609 adis_dev_unlock(&st->adis);
612 ret /= adis16400_3db_divisors[val16 & 0x07];
614 *val2 = (ret % 1000) * 1000;
615 return IIO_VAL_INT_PLUS_MICRO;
616 case IIO_CHAN_INFO_SAMP_FREQ:
617 adis_dev_lock(&st->adis);
618 ret = st->variant->get_freq(st);
619 adis_dev_unlock(&st->adis);
623 *val2 = (ret % 1000) * 1000;
624 return IIO_VAL_INT_PLUS_MICRO;
630 #if IS_ENABLED(CONFIG_IIO_BUFFER)
631 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
633 struct iio_poll_func *pf = p;
634 struct iio_dev *indio_dev = pf->indio_dev;
635 struct adis16400_state *st = iio_priv(indio_dev);
636 struct adis *adis = &st->adis;
640 ret = spi_sync(adis->spi, &adis->msg);
642 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
644 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
645 buffer = adis->buffer + sizeof(u16);
647 buffer = adis->buffer;
649 iio_push_to_buffers_with_timestamp(indio_dev, buffer,
652 iio_trigger_notify_done(indio_dev->trig);
657 #define adis16400_trigger_handler NULL
658 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
660 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
661 .type = IIO_VOLTAGE, \
664 .extend_name = name, \
665 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
666 BIT(IIO_CHAN_INFO_SCALE), \
667 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
669 .scan_index = (si), \
672 .realbits = (bits), \
675 .endianness = IIO_BE, \
679 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
680 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
682 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
683 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
685 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
686 .type = IIO_ANGL_VEL, \
688 .channel2 = IIO_MOD_ ## mod, \
689 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
690 BIT(IIO_CHAN_INFO_CALIBBIAS), \
691 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
692 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
693 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
695 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
698 .realbits = (bits), \
701 .endianness = IIO_BE, \
705 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
708 .channel2 = IIO_MOD_ ## mod, \
709 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
710 BIT(IIO_CHAN_INFO_CALIBBIAS), \
711 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
712 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
713 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
715 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
718 .realbits = (bits), \
721 .endianness = IIO_BE, \
725 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
728 .channel2 = IIO_MOD_ ## mod, \
729 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
730 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
731 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
732 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
734 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
737 .realbits = (bits), \
740 .endianness = IIO_BE, \
744 #define ADIS16400_MOD_TEMP_NAME_X "x"
745 #define ADIS16400_MOD_TEMP_NAME_Y "y"
746 #define ADIS16400_MOD_TEMP_NAME_Z "z"
748 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
752 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
753 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
754 BIT(IIO_CHAN_INFO_OFFSET) | \
755 BIT(IIO_CHAN_INFO_SCALE), \
756 .info_mask_shared_by_type = \
757 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
758 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
760 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
763 .realbits = (bits), \
766 .endianness = IIO_BE, \
770 #define ADIS16400_TEMP_CHAN(addr, bits) { \
774 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
775 BIT(IIO_CHAN_INFO_OFFSET) | \
776 BIT(IIO_CHAN_INFO_SCALE), \
777 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
779 .scan_index = ADIS16350_SCAN_TEMP_X, \
782 .realbits = (bits), \
785 .endianness = IIO_BE, \
789 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
792 .channel2 = IIO_MOD_ ## mod, \
793 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
794 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
795 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
797 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
800 .realbits = (bits), \
803 .endianness = IIO_BE, \
807 static const struct iio_chan_spec adis16400_channels[] = {
808 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
809 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
810 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
811 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
812 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
813 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
814 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
815 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
816 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
817 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
818 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
819 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
820 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
823 static const struct iio_chan_spec adis16445_channels[] = {
824 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
825 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
826 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
827 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
828 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
829 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
830 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
831 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
834 static const struct iio_chan_spec adis16448_channels[] = {
835 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
836 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
837 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
838 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
839 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
840 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
841 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
842 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
843 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
845 .type = IIO_PRESSURE,
846 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
847 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
848 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
849 .address = ADIS16448_BARO_OUT,
850 .scan_index = ADIS16400_SCAN_BARO,
855 .endianness = IIO_BE,
858 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
859 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
862 static const struct iio_chan_spec adis16350_channels[] = {
863 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
864 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
865 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
866 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
867 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
868 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
869 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
870 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
871 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
872 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
873 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
874 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
875 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
876 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
877 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
880 static const struct iio_chan_spec adis16300_channels[] = {
881 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
882 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
883 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
884 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
885 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
886 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
887 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
888 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
889 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
890 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
893 static const struct iio_chan_spec adis16334_channels[] = {
894 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
895 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
896 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
897 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
898 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
899 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
900 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
901 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
904 static const char * const adis16400_status_error_msgs[] = {
905 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
906 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
907 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
908 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
909 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
910 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
911 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
912 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
913 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
914 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
915 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
916 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
917 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
918 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
919 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
922 #define ADIS16400_DATA(_timeouts, _burst_len) \
924 .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
925 .glob_cmd_reg = ADIS16400_GLOB_CMD, \
926 .diag_stat_reg = ADIS16400_DIAG_STAT, \
929 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
930 .self_test_reg = ADIS16400_MSC_CTRL, \
931 .status_error_msgs = adis16400_status_error_msgs, \
932 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
933 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
934 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
935 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
936 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
937 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
938 BIT(ADIS16400_DIAG_STAT_ALARM2) | \
939 BIT(ADIS16400_DIAG_STAT_ALARM1) | \
940 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
941 BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
942 BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
943 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
944 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
945 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
946 BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
947 .timeouts = (_timeouts), \
948 .burst_reg_cmd = ADIS16400_GLOB_CMD, \
949 .burst_len = (_burst_len), \
950 .burst_max_speed_hz = ADIS16400_SPI_BURST \
953 static const struct adis_timeout adis16300_timeouts = {
954 .reset_ms = ADIS16400_STARTUP_DELAY,
955 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
956 .self_test_ms = ADIS16400_STARTUP_DELAY,
959 static const struct adis_timeout adis16334_timeouts = {
965 static const struct adis_timeout adis16362_timeouts = {
971 static const struct adis_timeout adis16400_timeouts = {
977 static const struct adis_timeout adis16445_timeouts = {
983 static const struct adis_timeout adis16448_timeouts = {
989 static struct adis16400_chip_info adis16400_chips[] = {
991 .channels = adis16300_channels,
992 .num_channels = ARRAY_SIZE(adis16300_channels),
993 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
994 ADIS16400_HAS_SERIAL_NUMBER,
995 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
996 .accel_scale_micro = 5884,
997 .temp_scale_nano = 140000000, /* 0.14 C */
998 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
999 .set_freq = adis16400_set_freq,
1000 .get_freq = adis16400_get_freq,
1001 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18),
1004 .channels = adis16334_channels,
1005 .num_channels = ARRAY_SIZE(adis16334_channels),
1006 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
1007 ADIS16400_HAS_SERIAL_NUMBER,
1008 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1009 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1010 .temp_scale_nano = 67850000, /* 0.06785 C */
1011 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
1012 .set_freq = adis16334_set_freq,
1013 .get_freq = adis16334_get_freq,
1014 .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0),
1017 .channels = adis16350_channels,
1018 .num_channels = ARRAY_SIZE(adis16350_channels),
1019 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
1020 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
1021 .temp_scale_nano = 145300000, /* 0.1453 C */
1022 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
1023 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
1024 .set_freq = adis16400_set_freq,
1025 .get_freq = adis16400_get_freq,
1026 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0),
1029 .channels = adis16350_channels,
1030 .num_channels = ARRAY_SIZE(adis16350_channels),
1031 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1032 ADIS16400_HAS_SERIAL_NUMBER,
1033 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1034 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1035 .temp_scale_nano = 136000000, /* 0.136 C */
1036 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1037 .set_freq = adis16400_set_freq,
1038 .get_freq = adis16400_get_freq,
1039 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1042 .channels = adis16350_channels,
1043 .num_channels = ARRAY_SIZE(adis16350_channels),
1044 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1045 ADIS16400_HAS_SERIAL_NUMBER,
1046 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1047 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1048 .temp_scale_nano = 136000000, /* 0.136 C */
1049 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1050 .set_freq = adis16400_set_freq,
1051 .get_freq = adis16400_get_freq,
1052 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1055 .channels = adis16350_channels,
1056 .num_channels = ARRAY_SIZE(adis16350_channels),
1057 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1058 ADIS16400_HAS_SERIAL_NUMBER,
1059 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1060 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1061 .temp_scale_nano = 136000000, /* 0.136 C */
1062 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1063 .set_freq = adis16400_set_freq,
1064 .get_freq = adis16400_get_freq,
1065 .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28),
1068 .channels = adis16350_channels,
1069 .num_channels = ARRAY_SIZE(adis16350_channels),
1070 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1071 ADIS16400_HAS_SERIAL_NUMBER,
1072 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1073 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1074 .temp_scale_nano = 136000000, /* 0.136 C */
1075 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1076 .set_freq = adis16400_set_freq,
1077 .get_freq = adis16400_get_freq,
1078 .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28),
1081 .channels = adis16400_channels,
1082 .num_channels = ARRAY_SIZE(adis16400_channels),
1083 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1084 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1085 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1086 .temp_scale_nano = 140000000, /* 0.14 C */
1087 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1088 .set_freq = adis16400_set_freq,
1089 .get_freq = adis16400_get_freq,
1090 .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24),
1093 .channels = adis16445_channels,
1094 .num_channels = ARRAY_SIZE(adis16445_channels),
1095 .flags = ADIS16400_HAS_PROD_ID |
1096 ADIS16400_HAS_SERIAL_NUMBER |
1097 ADIS16400_BURST_DIAG_STAT,
1098 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1099 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1100 .temp_scale_nano = 73860000, /* 0.07386 C */
1101 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1102 .set_freq = adis16334_set_freq,
1103 .get_freq = adis16334_get_freq,
1104 .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16),
1107 .channels = adis16448_channels,
1108 .num_channels = ARRAY_SIZE(adis16448_channels),
1109 .flags = ADIS16400_HAS_PROD_ID |
1110 ADIS16400_HAS_SERIAL_NUMBER |
1111 ADIS16400_BURST_DIAG_STAT,
1112 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1113 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1114 .temp_scale_nano = 73860000, /* 0.07386 C */
1115 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1116 .set_freq = adis16334_set_freq,
1117 .get_freq = adis16334_get_freq,
1118 .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24),
1122 static const struct iio_info adis16400_info = {
1123 .read_raw = &adis16400_read_raw,
1124 .write_raw = &adis16400_write_raw,
1125 .update_scan_mode = adis_update_scan_mode,
1126 .debugfs_reg_access = adis_debugfs_reg_access,
1129 static void adis16400_setup_chan_mask(struct adis16400_state *st)
1131 const struct adis16400_chip_info *chip_info = st->variant;
1134 for (i = 0; i < chip_info->num_channels; i++) {
1135 const struct iio_chan_spec *ch = &chip_info->channels[i];
1137 if (ch->scan_index >= 0 &&
1138 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1139 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1143 static void adis16400_stop(void *data)
1145 adis16400_stop_device(data);
1148 static int adis16400_probe(struct spi_device *spi)
1150 struct adis16400_state *st;
1151 struct iio_dev *indio_dev;
1153 const struct adis_data *adis16400_data;
1155 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1156 if (indio_dev == NULL)
1159 st = iio_priv(indio_dev);
1161 /* setup the industrialio driver allocated elements */
1162 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1163 indio_dev->name = spi_get_device_id(spi)->name;
1164 indio_dev->channels = st->variant->channels;
1165 indio_dev->num_channels = st->variant->num_channels;
1166 indio_dev->info = &adis16400_info;
1167 indio_dev->modes = INDIO_DIRECT_MODE;
1169 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1170 adis16400_setup_chan_mask(st);
1171 indio_dev->available_scan_masks = st->avail_scan_mask;
1174 adis16400_data = &st->variant->adis_data;
1176 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1180 ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler);
1184 /* Get the device into a sane initial state */
1185 ret = adis16400_initial_setup(indio_dev);
1189 ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev);
1193 ret = devm_iio_device_register(&spi->dev, indio_dev);
1197 adis16400_debugfs_init(indio_dev);
1201 static const struct spi_device_id adis16400_id[] = {
1202 {"adis16300", ADIS16300},
1203 {"adis16305", ADIS16300},
1204 {"adis16334", ADIS16334},
1205 {"adis16350", ADIS16350},
1206 {"adis16354", ADIS16350},
1207 {"adis16355", ADIS16350},
1208 {"adis16360", ADIS16360},
1209 {"adis16362", ADIS16362},
1210 {"adis16364", ADIS16364},
1211 {"adis16365", ADIS16360},
1212 {"adis16367", ADIS16367},
1213 {"adis16400", ADIS16400},
1214 {"adis16405", ADIS16400},
1215 {"adis16445", ADIS16445},
1216 {"adis16448", ADIS16448},
1219 MODULE_DEVICE_TABLE(spi, adis16400_id);
1221 static struct spi_driver adis16400_driver = {
1223 .name = "adis16400",
1225 .id_table = adis16400_id,
1226 .probe = adis16400_probe,
1228 module_spi_driver(adis16400_driver);
1230 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1231 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1232 MODULE_LICENSE("GPL v2");