2 * adis16400.c support Analog Devices ADIS16400/5
3 * 3d 2g Linear Accelerometers,
5 * 3d Magnetometers via SPI
7 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
8 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
9 * Copyright (c) 2011 Analog Devices Inc.
11 * This program is free software; you can redistribute it and/or modify
12 * it under the terms of the GNU General Public License version 2 as
13 * published by the Free Software Foundation.
17 #include <linux/interrupt.h>
18 #include <linux/irq.h>
19 #include <linux/delay.h>
20 #include <linux/mutex.h>
21 #include <linux/device.h>
22 #include <linux/kernel.h>
23 #include <linux/spi/spi.h>
24 #include <linux/slab.h>
25 #include <linux/sysfs.h>
26 #include <linux/list.h>
27 #include <linux/module.h>
28 #include <linux/debugfs.h>
29 #include <linux/bitops.h>
31 #include <linux/iio/iio.h>
32 #include <linux/iio/sysfs.h>
33 #include <linux/iio/buffer.h>
35 #include "adis16400.h"
37 #ifdef CONFIG_DEBUG_FS
39 static ssize_t adis16400_show_serial_number(struct file *file,
40 char __user *userbuf, size_t count, loff_t *ppos)
42 struct adis16400_state *st = file->private_data;
43 u16 lot1, lot2, serial_number;
48 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
52 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
56 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
61 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
64 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
67 static const struct file_operations adis16400_serial_number_fops = {
69 .read = adis16400_show_serial_number,
70 .llseek = default_llseek,
74 static int adis16400_show_product_id(void *arg, u64 *val)
76 struct adis16400_state *st = arg;
80 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
88 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
89 adis16400_show_product_id, NULL, "%lld\n");
91 static int adis16400_show_flash_count(void *arg, u64 *val)
93 struct adis16400_state *st = arg;
97 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
105 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
106 adis16400_show_flash_count, NULL, "%lld\n");
108 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
110 struct adis16400_state *st = iio_priv(indio_dev);
112 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
113 debugfs_create_file("serial_number", 0400,
114 indio_dev->debugfs_dentry, st,
115 &adis16400_serial_number_fops);
116 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
117 debugfs_create_file("product_id", 0400,
118 indio_dev->debugfs_dentry, st,
119 &adis16400_product_id_fops);
120 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
121 st, &adis16400_flash_count_fops);
128 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
135 enum adis16400_chip_variant {
148 static int adis16334_get_freq(struct adis16400_state *st)
153 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
157 t >>= ADIS16334_RATE_DIV_SHIFT;
162 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
167 t = ilog2(819200 / freq);
174 t <<= ADIS16334_RATE_DIV_SHIFT;
175 t |= ADIS16334_RATE_INT_CLK;
177 return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
180 static int adis16400_get_freq(struct adis16400_state *st)
185 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
189 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
190 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
195 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
202 val |= ADIS16400_SMPL_PRD_TIME_BASE;
212 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
213 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
215 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
217 return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
220 static const unsigned int adis16400_3db_divisors[] = {
221 [0] = 2, /* Special case */
228 [7] = 200, /* Not a valid setting */
231 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
233 struct adis16400_state *st = iio_priv(indio_dev);
237 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
238 if (sps / adis16400_3db_divisors[i] >= val)
242 ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
246 ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
247 (val16 & ~0x07) | i);
251 /* Power down the device */
252 static int adis16400_stop_device(struct iio_dev *indio_dev)
254 struct adis16400_state *st = iio_priv(indio_dev);
257 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
258 ADIS16400_SLP_CNT_POWER_OFF);
260 dev_err(&indio_dev->dev,
261 "problem with turning device off: SLP_CNT");
266 static int adis16400_initial_setup(struct iio_dev *indio_dev)
268 struct adis16400_state *st = iio_priv(indio_dev);
269 uint16_t prod_id, smp_prd;
270 unsigned int device_id;
273 /* use low spi speed for init if the device has a slow mode */
274 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
275 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
277 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
278 st->adis.spi->mode = SPI_MODE_3;
279 spi_setup(st->adis.spi);
281 ret = adis_initial_startup(&st->adis);
285 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
286 ret = adis_read_reg_16(&st->adis,
287 ADIS16400_PRODUCT_ID, &prod_id);
291 if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) {
296 if (prod_id != device_id)
297 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
300 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
301 indio_dev->name, prod_id,
302 st->adis.spi->chip_select, st->adis.spi->irq);
304 /* use high spi speed if possible */
305 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
306 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
310 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
311 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
312 spi_setup(st->adis.spi);
320 static const uint8_t adis16400_addresses[] = {
321 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
322 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
323 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
324 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
325 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
326 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
329 static int adis16400_write_raw(struct iio_dev *indio_dev,
330 struct iio_chan_spec const *chan, int val, int val2, long info)
332 struct adis16400_state *st = iio_priv(indio_dev);
336 case IIO_CHAN_INFO_CALIBBIAS:
337 mutex_lock(&indio_dev->mlock);
338 ret = adis_write_reg_16(&st->adis,
339 adis16400_addresses[chan->scan_index], val);
340 mutex_unlock(&indio_dev->mlock);
342 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
344 * Need to cache values so we can update if the frequency
347 mutex_lock(&indio_dev->mlock);
349 /* Work out update to current value */
350 sps = st->variant->get_freq(st);
352 mutex_unlock(&indio_dev->mlock);
356 ret = adis16400_set_filter(indio_dev, sps,
357 val * 1000 + val2 / 1000);
358 mutex_unlock(&indio_dev->mlock);
360 case IIO_CHAN_INFO_SAMP_FREQ:
361 sps = val * 1000 + val2 / 1000;
366 mutex_lock(&indio_dev->mlock);
367 ret = st->variant->set_freq(st, sps);
368 mutex_unlock(&indio_dev->mlock);
375 static int adis16400_read_raw(struct iio_dev *indio_dev,
376 struct iio_chan_spec const *chan, int *val, int *val2, long info)
378 struct adis16400_state *st = iio_priv(indio_dev);
383 case IIO_CHAN_INFO_RAW:
384 return adis_single_conversion(indio_dev, chan, 0, val);
385 case IIO_CHAN_INFO_SCALE:
386 switch (chan->type) {
389 *val2 = st->variant->gyro_scale_micro;
390 return IIO_VAL_INT_PLUS_MICRO;
393 if (chan->channel == 0) {
395 *val2 = 418000; /* 2.418 mV */
398 *val2 = 805800; /* 805.8 uV */
400 return IIO_VAL_INT_PLUS_MICRO;
403 *val2 = st->variant->accel_scale_micro;
404 return IIO_VAL_INT_PLUS_MICRO;
407 *val2 = 500; /* 0.5 mgauss */
408 return IIO_VAL_INT_PLUS_MICRO;
410 *val = st->variant->temp_scale_nano / 1000000;
411 *val2 = (st->variant->temp_scale_nano % 1000000);
412 return IIO_VAL_INT_PLUS_MICRO;
414 /* 20 uBar = 0.002kPascal */
417 return IIO_VAL_INT_PLUS_MICRO;
421 case IIO_CHAN_INFO_CALIBBIAS:
422 mutex_lock(&indio_dev->mlock);
423 ret = adis_read_reg_16(&st->adis,
424 adis16400_addresses[chan->scan_index], &val16);
425 mutex_unlock(&indio_dev->mlock);
428 val16 = sign_extend32(val16, 11);
431 case IIO_CHAN_INFO_OFFSET:
432 /* currently only temperature */
433 *val = st->variant->temp_offset;
435 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
436 mutex_lock(&indio_dev->mlock);
437 /* Need both the number of taps and the sampling frequency */
438 ret = adis_read_reg_16(&st->adis,
442 mutex_unlock(&indio_dev->mlock);
445 ret = st->variant->get_freq(st);
447 ret /= adis16400_3db_divisors[val16 & 0x07];
449 *val2 = (ret % 1000) * 1000;
451 mutex_unlock(&indio_dev->mlock);
454 return IIO_VAL_INT_PLUS_MICRO;
455 case IIO_CHAN_INFO_SAMP_FREQ:
456 ret = st->variant->get_freq(st);
460 *val2 = (ret % 1000) * 1000;
461 return IIO_VAL_INT_PLUS_MICRO;
467 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
468 .type = IIO_VOLTAGE, \
471 .extend_name = name, \
472 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
473 BIT(IIO_CHAN_INFO_SCALE), \
474 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
476 .scan_index = (si), \
479 .realbits = (bits), \
482 .endianness = IIO_BE, \
486 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
487 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
489 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
490 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
492 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
493 .type = IIO_ANGL_VEL, \
495 .channel2 = IIO_MOD_ ## mod, \
496 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
497 BIT(IIO_CHAN_INFO_CALIBBIAS), \
498 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
499 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
500 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
502 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
505 .realbits = (bits), \
508 .endianness = IIO_BE, \
512 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
515 .channel2 = IIO_MOD_ ## mod, \
516 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
517 BIT(IIO_CHAN_INFO_CALIBBIAS), \
518 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
519 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
520 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
522 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
525 .realbits = (bits), \
528 .endianness = IIO_BE, \
532 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
535 .channel2 = IIO_MOD_ ## mod, \
536 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
537 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
538 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
539 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
541 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
544 .realbits = (bits), \
547 .endianness = IIO_BE, \
551 #define ADIS16400_MOD_TEMP_NAME_X "x"
552 #define ADIS16400_MOD_TEMP_NAME_Y "y"
553 #define ADIS16400_MOD_TEMP_NAME_Z "z"
555 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
559 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
560 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
561 BIT(IIO_CHAN_INFO_OFFSET) | \
562 BIT(IIO_CHAN_INFO_SCALE), \
563 .info_mask_shared_by_type = \
564 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
565 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
567 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
570 .realbits = (bits), \
573 .endianness = IIO_BE, \
577 #define ADIS16400_TEMP_CHAN(addr, bits) { \
581 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
582 BIT(IIO_CHAN_INFO_OFFSET) | \
583 BIT(IIO_CHAN_INFO_SCALE), \
584 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
586 .scan_index = ADIS16350_SCAN_TEMP_X, \
589 .realbits = (bits), \
592 .endianness = IIO_BE, \
596 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
599 .channel2 = IIO_MOD_ ## mod, \
600 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
601 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
602 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
604 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
607 .realbits = (bits), \
610 .endianness = IIO_BE, \
614 static const struct iio_chan_spec adis16400_channels[] = {
615 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
616 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
617 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
618 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
619 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
620 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
621 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
622 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
623 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
624 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
625 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
626 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
627 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
630 static const struct iio_chan_spec adis16445_channels[] = {
631 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
632 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
633 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
634 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
635 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
636 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
637 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
638 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
641 static const struct iio_chan_spec adis16448_channels[] = {
642 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
643 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
644 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
645 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
646 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
647 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
648 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
649 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
650 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
652 .type = IIO_PRESSURE,
653 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
654 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
655 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
656 .address = ADIS16448_BARO_OUT,
657 .scan_index = ADIS16400_SCAN_BARO,
662 .endianness = IIO_BE,
665 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
666 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
669 static const struct iio_chan_spec adis16350_channels[] = {
670 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
671 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
672 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
673 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
674 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
675 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
676 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
677 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
678 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
679 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
680 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
681 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
682 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
683 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
684 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
687 static const struct iio_chan_spec adis16300_channels[] = {
688 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
689 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
690 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
691 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
692 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
693 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
694 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
695 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
696 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
697 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
700 static const struct iio_chan_spec adis16334_channels[] = {
701 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
702 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
703 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
704 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
705 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
706 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
707 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
708 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
711 static struct adis16400_chip_info adis16400_chips[] = {
713 .channels = adis16300_channels,
714 .num_channels = ARRAY_SIZE(adis16300_channels),
715 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
716 ADIS16400_HAS_SERIAL_NUMBER,
717 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
718 .accel_scale_micro = 5884,
719 .temp_scale_nano = 140000000, /* 0.14 C */
720 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
721 .set_freq = adis16400_set_freq,
722 .get_freq = adis16400_get_freq,
725 .channels = adis16334_channels,
726 .num_channels = ARRAY_SIZE(adis16334_channels),
727 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
728 ADIS16400_HAS_SERIAL_NUMBER,
729 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
730 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
731 .temp_scale_nano = 67850000, /* 0.06785 C */
732 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
733 .set_freq = adis16334_set_freq,
734 .get_freq = adis16334_get_freq,
737 .channels = adis16350_channels,
738 .num_channels = ARRAY_SIZE(adis16350_channels),
739 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
740 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
741 .temp_scale_nano = 145300000, /* 0.1453 C */
742 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
743 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
744 .set_freq = adis16400_set_freq,
745 .get_freq = adis16400_get_freq,
748 .channels = adis16350_channels,
749 .num_channels = ARRAY_SIZE(adis16350_channels),
750 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
751 ADIS16400_HAS_SERIAL_NUMBER,
752 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
753 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
754 .temp_scale_nano = 136000000, /* 0.136 C */
755 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
756 .set_freq = adis16400_set_freq,
757 .get_freq = adis16400_get_freq,
760 .channels = adis16350_channels,
761 .num_channels = ARRAY_SIZE(adis16350_channels),
762 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
763 ADIS16400_HAS_SERIAL_NUMBER,
764 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
765 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
766 .temp_scale_nano = 136000000, /* 0.136 C */
767 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
768 .set_freq = adis16400_set_freq,
769 .get_freq = adis16400_get_freq,
772 .channels = adis16350_channels,
773 .num_channels = ARRAY_SIZE(adis16350_channels),
774 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
775 ADIS16400_HAS_SERIAL_NUMBER,
776 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
777 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
778 .temp_scale_nano = 136000000, /* 0.136 C */
779 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
780 .set_freq = adis16400_set_freq,
781 .get_freq = adis16400_get_freq,
784 .channels = adis16350_channels,
785 .num_channels = ARRAY_SIZE(adis16350_channels),
786 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
787 ADIS16400_HAS_SERIAL_NUMBER,
788 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
789 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
790 .temp_scale_nano = 136000000, /* 0.136 C */
791 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
792 .set_freq = adis16400_set_freq,
793 .get_freq = adis16400_get_freq,
796 .channels = adis16400_channels,
797 .num_channels = ARRAY_SIZE(adis16400_channels),
798 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
799 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
800 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
801 .temp_scale_nano = 140000000, /* 0.14 C */
802 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
803 .set_freq = adis16400_set_freq,
804 .get_freq = adis16400_get_freq,
807 .channels = adis16445_channels,
808 .num_channels = ARRAY_SIZE(adis16445_channels),
809 .flags = ADIS16400_HAS_PROD_ID |
810 ADIS16400_HAS_SERIAL_NUMBER |
811 ADIS16400_BURST_DIAG_STAT,
812 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
813 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
814 .temp_scale_nano = 73860000, /* 0.07386 C */
815 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
816 .set_freq = adis16334_set_freq,
817 .get_freq = adis16334_get_freq,
820 .channels = adis16448_channels,
821 .num_channels = ARRAY_SIZE(adis16448_channels),
822 .flags = ADIS16400_HAS_PROD_ID |
823 ADIS16400_HAS_SERIAL_NUMBER |
824 ADIS16400_BURST_DIAG_STAT,
825 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
826 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
827 .temp_scale_nano = 73860000, /* 0.07386 C */
828 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
829 .set_freq = adis16334_set_freq,
830 .get_freq = adis16334_get_freq,
834 static const struct iio_info adis16400_info = {
835 .read_raw = &adis16400_read_raw,
836 .write_raw = &adis16400_write_raw,
837 .update_scan_mode = adis16400_update_scan_mode,
838 .debugfs_reg_access = adis_debugfs_reg_access,
841 static const char * const adis16400_status_error_msgs[] = {
842 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
843 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
844 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
845 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
846 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
847 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
848 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
849 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
850 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
851 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
852 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
853 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
854 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
855 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
856 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
859 static const struct adis_data adis16400_data = {
860 .msc_ctrl_reg = ADIS16400_MSC_CTRL,
861 .glob_cmd_reg = ADIS16400_GLOB_CMD,
862 .diag_stat_reg = ADIS16400_DIAG_STAT,
867 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
868 .startup_delay = ADIS16400_STARTUP_DELAY,
870 .status_error_msgs = adis16400_status_error_msgs,
871 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
872 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
873 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
874 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
875 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
876 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
877 BIT(ADIS16400_DIAG_STAT_ALARM2) |
878 BIT(ADIS16400_DIAG_STAT_ALARM1) |
879 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
880 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
881 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
882 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
883 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
884 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
885 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
888 static void adis16400_setup_chan_mask(struct adis16400_state *st)
890 const struct adis16400_chip_info *chip_info = st->variant;
893 for (i = 0; i < chip_info->num_channels; i++) {
894 const struct iio_chan_spec *ch = &chip_info->channels[i];
896 if (ch->scan_index >= 0 &&
897 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
898 st->avail_scan_mask[0] |= BIT(ch->scan_index);
902 static int adis16400_probe(struct spi_device *spi)
904 struct adis16400_state *st;
905 struct iio_dev *indio_dev;
908 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
909 if (indio_dev == NULL)
912 st = iio_priv(indio_dev);
913 /* this is only used for removal purposes */
914 spi_set_drvdata(spi, indio_dev);
916 /* setup the industrialio driver allocated elements */
917 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
918 indio_dev->dev.parent = &spi->dev;
919 indio_dev->name = spi_get_device_id(spi)->name;
920 indio_dev->channels = st->variant->channels;
921 indio_dev->num_channels = st->variant->num_channels;
922 indio_dev->info = &adis16400_info;
923 indio_dev->modes = INDIO_DIRECT_MODE;
925 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
926 adis16400_setup_chan_mask(st);
927 indio_dev->available_scan_masks = st->avail_scan_mask;
930 ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
934 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
935 adis16400_trigger_handler);
939 /* Get the device into a sane initial state */
940 ret = adis16400_initial_setup(indio_dev);
942 goto error_cleanup_buffer;
943 ret = iio_device_register(indio_dev);
945 goto error_cleanup_buffer;
947 adis16400_debugfs_init(indio_dev);
950 error_cleanup_buffer:
951 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
955 static int adis16400_remove(struct spi_device *spi)
957 struct iio_dev *indio_dev = spi_get_drvdata(spi);
958 struct adis16400_state *st = iio_priv(indio_dev);
960 iio_device_unregister(indio_dev);
961 adis16400_stop_device(indio_dev);
963 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
968 static const struct spi_device_id adis16400_id[] = {
969 {"adis16300", ADIS16300},
970 {"adis16305", ADIS16300},
971 {"adis16334", ADIS16334},
972 {"adis16350", ADIS16350},
973 {"adis16354", ADIS16350},
974 {"adis16355", ADIS16350},
975 {"adis16360", ADIS16360},
976 {"adis16362", ADIS16362},
977 {"adis16364", ADIS16364},
978 {"adis16365", ADIS16360},
979 {"adis16367", ADIS16367},
980 {"adis16400", ADIS16400},
981 {"adis16405", ADIS16400},
982 {"adis16445", ADIS16445},
983 {"adis16448", ADIS16448},
986 MODULE_DEVICE_TABLE(spi, adis16400_id);
988 static struct spi_driver adis16400_driver = {
992 .id_table = adis16400_id,
993 .probe = adis16400_probe,
994 .remove = adis16400_remove,
996 module_spi_driver(adis16400_driver);
998 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
999 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1000 MODULE_LICENSE("GPL v2");