![Greg Kroah-Hartman](/assets/img/avatar_default.png)
Usual mixed bag, but the big item perhaps in this series is the DMA buffer support added by Lars-Peter Clausen. It's been in the works for a long time and it will be interesting to see what hardware support shows up now that this is available. New core features + associate cleanup. * Add generic DMA buffer infrastructure * Add a DMAengine framework based buffer Also associated minor changes. - Set the device buffer watermark based on the minimum watermark for all attached buffers rather than just the 'primary' one. - iio_buffer_init - only set the watermark default if one hasn't already been provided. This allows simple support for devices with a fixed watermark. - read only attribute for watermark on fixed watermark devices. - add explicit buffer enable/disable callbacks to allow the buffer to do more than trivial actions when it is being turned on and off. * IIO_VAL_INT support in write_raw_get_fmt function. New device support * Freescale MMA7455/7456L accelerometers * Memsic MXC6255XC accelerometer * ST lis2dh12 accelerometer * TI ADS8688 ADC * TI Palamas (twl6035/7) gpadc New driver features * mma8452 - support either of the available interrupt pins to cope with the case where board layout has lead to a particular one being connected. Staging graduation * Dummy driver - this driver acts as both an example and a test device for those with out hardware to develop userspace code against. Cleanups and minor bits and bobs. * treewide - Sort out the ordering of iio_device_register/unregister vs runtime pm function calls so that it's all nice and consistent and not race prone. - Check sscanf return values. None of the cases will actually happen as the strings are supplied internally, but best to be consistent on this. * ad7780 - switch over to the gpio descriptor interface and remove the now unused platform data which gets rid of a header entirely. * ad7793 - drop a pointless else statement. * at91_adc - Swap kmalloc_array in for a kmalloc doing the same job. * dummy - get rid of some commented out lines that snuck in during the move of the driver. * lm3533-als - Print an error message on provision of an invalid resistance. * mcp320x - Add compatible strings with vendor prefix and deprecate those with no vendor prefix. * mxs-lradc - Use BIT macro in various places rather than shifted ones. * pa12203001 - Power off the chip if the registration fails. * pulsedlight-lidar-lite - add runtime PM support. * xilinx XADC - constify an iio_buffer_setup_ops structure. -----BEGIN PGP SIGNATURE----- Version: GnuPG v2 iQIcBAABCAAGBQJWUcmhAAoJEFSFNJnE9BaIyjYP/0A+CZMUqIGbYG9qFxnq7yYZ 977Wt/gGI8+Jq5RwNw6gTfhp2GrCN+5gzDbE2mBEn94c6SKBrj2Q9trW1FQ+Nhfx 9bZoyq3ZPRCV+efEDGfeK/JWRwv+V6IWwAF2J/iCPWpRMTEsIW5kM1JSO3ISlnma diyil1hefGTJY8aCqGApthfX4fyZK98oCV6zojxpCZfFPdsa+vf5n1RQ143odnOk 6NSfXHYLI+2e+mJ1lw4GdpZdF+rF+7jWsUYC5EDNmvlIJYiKmm13whSQeWO0NHo8 oD0pYboSIWnmdXx4s3RbWF2+Y28O1+oJDKZfXabB8DjVwtvlGnmWBRhgKji2e6E6 Hhct83YbDWtEpbNkXcWpnc5v5ynmAMTYTxADhinTGUtVQh3Q4wWduuoHK6IyeI4s dbfpO2Wh6N/5k3a4UoA69IcI2DzPzb2sIFWpdS8wuNv5xDhV2OmmY2PjTfq2w+Qz hEoMCNDUG6rQAYf4auXK5JjhI4CaG/mz/qjIibTUqGODYECzQQyvq+c2Gdq0S8O/ CUHOgui6aHbyuhWmXlEzhhkjuvBQZYaTxCA+LGMzy8w7UY9m4n5L/fX9M9IfFsMH NFCPrUfmxKPQj/mHlhu7KHaTMUlQ0pTqV5flSwqsjstZ2QddvI5EAKiLwIEhg7/2 RpnOZoiFIxykduEYLxeh =CfCl -----END PGP SIGNATURE----- Merge tag 'iio-for-4.5a' of git://git.kernel.org/pub/scm/linux/kernel/git/jic23/iio into staging-next Jonathan writes: First set of new device support, features and cleanups for IIO in the 4.5 cycle Usual mixed bag, but the big item perhaps in this series is the DMA buffer support added by Lars-Peter Clausen. It's been in the works for a long time and it will be interesting to see what hardware support shows up now that this is available. New core features + associate cleanup. * Add generic DMA buffer infrastructure * Add a DMAengine framework based buffer Also associated minor changes. - Set the device buffer watermark based on the minimum watermark for all attached buffers rather than just the 'primary' one. - iio_buffer_init - only set the watermark default if one hasn't already been provided. This allows simple support for devices with a fixed watermark. - read only attribute for watermark on fixed watermark devices. - add explicit buffer enable/disable callbacks to allow the buffer to do more than trivial actions when it is being turned on and off. * IIO_VAL_INT support in write_raw_get_fmt function. New device support * Freescale MMA7455/7456L accelerometers * Memsic MXC6255XC accelerometer * ST lis2dh12 accelerometer * TI ADS8688 ADC * TI Palamas (twl6035/7) gpadc New driver features * mma8452 - support either of the available interrupt pins to cope with the case where board layout has lead to a particular one being connected. Staging graduation * Dummy driver - this driver acts as both an example and a test device for those with out hardware to develop userspace code against. Cleanups and minor bits and bobs. * treewide - Sort out the ordering of iio_device_register/unregister vs runtime pm function calls so that it's all nice and consistent and not race prone. - Check sscanf return values. None of the cases will actually happen as the strings are supplied internally, but best to be consistent on this. * ad7780 - switch over to the gpio descriptor interface and remove the now unused platform data which gets rid of a header entirely. * ad7793 - drop a pointless else statement. * at91_adc - Swap kmalloc_array in for a kmalloc doing the same job. * dummy - get rid of some commented out lines that snuck in during the move of the driver. * lm3533-als - Print an error message on provision of an invalid resistance. * mcp320x - Add compatible strings with vendor prefix and deprecate those with no vendor prefix. * mxs-lradc - Use BIT macro in various places rather than shifted ones. * pa12203001 - Power off the chip if the registration fails. * pulsedlight-lidar-lite - add runtime PM support. * xilinx XADC - constify an iio_buffer_setup_ops structure.
1003 lines
28 KiB
C
1003 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 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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|
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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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|
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switch (info) {
|
|
case IIO_CHAN_INFO_RAW:
|
|
return adis_single_conversion(indio_dev, chan, 0, val);
|
|
case IIO_CHAN_INFO_SCALE:
|
|
switch (chan->type) {
|
|
case IIO_ANGL_VEL:
|
|
*val = 0;
|
|
*val2 = st->variant->gyro_scale_micro;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_VOLTAGE:
|
|
*val = 0;
|
|
if (chan->channel == 0) {
|
|
*val = 2;
|
|
*val2 = 418000; /* 2.418 mV */
|
|
} else {
|
|
*val = 0;
|
|
*val2 = 805800; /* 805.8 uV */
|
|
}
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_ACCEL:
|
|
*val = 0;
|
|
*val2 = st->variant->accel_scale_micro;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_MAGN:
|
|
*val = 0;
|
|
*val2 = 500; /* 0.5 mgauss */
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_TEMP:
|
|
*val = st->variant->temp_scale_nano / 1000000;
|
|
*val2 = (st->variant->temp_scale_nano % 1000000);
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_PRESSURE:
|
|
/* 20 uBar = 0.002kPascal */
|
|
*val = 0;
|
|
*val2 = 2000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
|
mutex_lock(&indio_dev->mlock);
|
|
ret = adis_read_reg_16(&st->adis,
|
|
adis16400_addresses[chan->scan_index], &val16);
|
|
mutex_unlock(&indio_dev->mlock);
|
|
if (ret)
|
|
return ret;
|
|
val16 = sign_extend32(val16, 11);
|
|
*val = val16;
|
|
return IIO_VAL_INT;
|
|
case IIO_CHAN_INFO_OFFSET:
|
|
/* currently only temperature */
|
|
*val = st->variant->temp_offset;
|
|
return IIO_VAL_INT;
|
|
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
|
|
mutex_lock(&indio_dev->mlock);
|
|
/* Need both the number of taps and the sampling frequency */
|
|
ret = adis_read_reg_16(&st->adis,
|
|
ADIS16400_SENS_AVG,
|
|
&val16);
|
|
if (ret < 0) {
|
|
mutex_unlock(&indio_dev->mlock);
|
|
return ret;
|
|
}
|
|
ret = st->variant->get_freq(st);
|
|
if (ret >= 0) {
|
|
ret /= adis16400_3db_divisors[val16 & 0x07];
|
|
*val = ret / 1000;
|
|
*val2 = (ret % 1000) * 1000;
|
|
}
|
|
mutex_unlock(&indio_dev->mlock);
|
|
if (ret < 0)
|
|
return ret;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
|
ret = st->variant->get_freq(st);
|
|
if (ret < 0)
|
|
return ret;
|
|
*val = ret / 1000;
|
|
*val2 = (ret % 1000) * 1000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
}
|
|
|
|
#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
|
|
.type = IIO_VOLTAGE, \
|
|
.indexed = 1, \
|
|
.channel = chn, \
|
|
.extend_name = name, \
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
|
BIT(IIO_CHAN_INFO_SCALE), \
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
|
.address = (addr), \
|
|
.scan_index = (si), \
|
|
.scan_type = { \
|
|
.sign = 'u', \
|
|
.realbits = (bits), \
|
|
.storagebits = 16, \
|
|
.shift = 0, \
|
|
.endianness = IIO_BE, \
|
|
}, \
|
|
}
|
|
|
|
#define ADIS16400_SUPPLY_CHAN(addr, bits) \
|
|
ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
|
|
|
|
#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 = {
|
|
.driver_module = THIS_MODULE,
|
|
.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 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");
|