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>
30 #include <linux/iio/iio.h>
31 #include <linux/iio/sysfs.h>
32 #include <linux/iio/buffer.h>
34 #include "adis16400.h"
36 #ifdef CONFIG_DEBUG_FS
38 static ssize_t adis16400_show_serial_number(struct file *file,
39 char __user *userbuf, size_t count, loff_t *ppos)
41 struct adis16400_state *st = file->private_data;
42 u16 lot1, lot2, serial_number;
47 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
51 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
55 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
60 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
63 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
66 static const struct file_operations adis16400_serial_number_fops = {
68 .read = adis16400_show_serial_number,
69 .llseek = default_llseek,
73 static int adis16400_show_product_id(void *arg, u64 *val)
75 struct adis16400_state *st = arg;
79 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
87 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
88 adis16400_show_product_id, NULL, "%lld\n");
90 static int adis16400_show_flash_count(void *arg, u64 *val)
92 struct adis16400_state *st = arg;
96 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
104 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
105 adis16400_show_flash_count, NULL, "%lld\n");
107 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
109 struct adis16400_state *st = iio_priv(indio_dev);
111 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
112 debugfs_create_file("serial_number", 0400,
113 indio_dev->debugfs_dentry, st,
114 &adis16400_serial_number_fops);
115 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
116 debugfs_create_file("product_id", 0400,
117 indio_dev->debugfs_dentry, st,
118 &adis16400_product_id_fops);
119 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
120 st, &adis16400_flash_count_fops);
127 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
134 enum adis16400_chip_variant {
145 static int adis16334_get_freq(struct adis16400_state *st)
150 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
154 t >>= ADIS16334_RATE_DIV_SHIFT;
159 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
164 t = ilog2(819200 / freq);
171 t <<= ADIS16334_RATE_DIV_SHIFT;
172 t |= ADIS16334_RATE_INT_CLK;
174 return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
177 static int adis16400_get_freq(struct adis16400_state *st)
182 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
186 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
187 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
192 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
199 val |= ADIS16400_SMPL_PRD_TIME_BASE;
209 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
210 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
212 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
214 return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
217 static ssize_t adis16400_read_frequency(struct device *dev,
218 struct device_attribute *attr,
221 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
222 struct adis16400_state *st = iio_priv(indio_dev);
225 ret = st->variant->get_freq(st);
229 return sprintf(buf, "%d.%.3d\n", ret / 1000, ret % 1000);
232 static const unsigned adis16400_3db_divisors[] = {
233 [0] = 2, /* Special case */
240 [7] = 200, /* Not a valid setting */
243 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
245 struct adis16400_state *st = iio_priv(indio_dev);
249 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
250 if (sps / adis16400_3db_divisors[i] >= val)
254 ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
258 ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
259 (val16 & ~0x07) | i);
263 static ssize_t adis16400_write_frequency(struct device *dev,
264 struct device_attribute *attr, const char *buf, size_t len)
266 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
267 struct adis16400_state *st = iio_priv(indio_dev);
271 ret = iio_str_to_fixpoint(buf, 100, &i, &f);
280 mutex_lock(&indio_dev->mlock);
281 st->variant->set_freq(st, val);
282 mutex_unlock(&indio_dev->mlock);
284 return ret ? ret : len;
287 /* Power down the device */
288 static int adis16400_stop_device(struct iio_dev *indio_dev)
290 struct adis16400_state *st = iio_priv(indio_dev);
293 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
294 ADIS16400_SLP_CNT_POWER_OFF);
296 dev_err(&indio_dev->dev,
297 "problem with turning device off: SLP_CNT");
302 static int adis16400_initial_setup(struct iio_dev *indio_dev)
304 struct adis16400_state *st = iio_priv(indio_dev);
305 uint16_t prod_id, smp_prd;
306 unsigned int device_id;
309 /* use low spi speed for init if the device has a slow mode */
310 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
311 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
313 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
314 st->adis.spi->mode = SPI_MODE_3;
315 spi_setup(st->adis.spi);
317 ret = adis_initial_startup(&st->adis);
321 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
322 ret = adis_read_reg_16(&st->adis,
323 ADIS16400_PRODUCT_ID, &prod_id);
327 sscanf(indio_dev->name, "adis%u\n", &device_id);
329 if (prod_id != device_id)
330 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
333 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
334 indio_dev->name, prod_id,
335 st->adis.spi->chip_select, st->adis.spi->irq);
337 /* use high spi speed if possible */
338 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
339 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
343 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
344 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
345 spi_setup(st->adis.spi);
353 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
354 adis16400_read_frequency,
355 adis16400_write_frequency);
357 static const uint8_t adis16400_addresses[] = {
358 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
359 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
360 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
361 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
362 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
363 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
366 static int adis16400_write_raw(struct iio_dev *indio_dev,
367 struct iio_chan_spec const *chan, int val, int val2, long info)
369 struct adis16400_state *st = iio_priv(indio_dev);
373 case IIO_CHAN_INFO_CALIBBIAS:
374 mutex_lock(&indio_dev->mlock);
375 ret = adis_write_reg_16(&st->adis,
376 adis16400_addresses[chan->scan_index], val);
377 mutex_unlock(&indio_dev->mlock);
379 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
381 * Need to cache values so we can update if the frequency
384 mutex_lock(&indio_dev->mlock);
386 /* Work out update to current value */
387 sps = st->variant->get_freq(st);
389 mutex_unlock(&indio_dev->mlock);
393 ret = adis16400_set_filter(indio_dev, sps,
394 val * 1000 + val2 / 1000);
395 mutex_unlock(&indio_dev->mlock);
402 static int adis16400_read_raw(struct iio_dev *indio_dev,
403 struct iio_chan_spec const *chan, int *val, int *val2, long info)
405 struct adis16400_state *st = iio_priv(indio_dev);
410 case IIO_CHAN_INFO_RAW:
411 return adis_single_conversion(indio_dev, chan, 0, val);
412 case IIO_CHAN_INFO_SCALE:
413 switch (chan->type) {
416 *val2 = st->variant->gyro_scale_micro;
417 return IIO_VAL_INT_PLUS_MICRO;
420 if (chan->channel == 0) {
422 *val2 = 418000; /* 2.418 mV */
425 *val2 = 805800; /* 805.8 uV */
427 return IIO_VAL_INT_PLUS_MICRO;
430 *val2 = st->variant->accel_scale_micro;
431 return IIO_VAL_INT_PLUS_MICRO;
434 *val2 = 500; /* 0.5 mgauss */
435 return IIO_VAL_INT_PLUS_MICRO;
437 *val = st->variant->temp_scale_nano / 1000000;
438 *val2 = (st->variant->temp_scale_nano % 1000000);
439 return IIO_VAL_INT_PLUS_MICRO;
443 case IIO_CHAN_INFO_CALIBBIAS:
444 mutex_lock(&indio_dev->mlock);
445 ret = adis_read_reg_16(&st->adis,
446 adis16400_addresses[chan->scan_index], &val16);
447 mutex_unlock(&indio_dev->mlock);
450 val16 = ((val16 & 0xFFF) << 4) >> 4;
453 case IIO_CHAN_INFO_OFFSET:
454 /* currently only temperature */
455 *val = st->variant->temp_offset;
457 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
458 mutex_lock(&indio_dev->mlock);
459 /* Need both the number of taps and the sampling frequency */
460 ret = adis_read_reg_16(&st->adis,
464 mutex_unlock(&indio_dev->mlock);
467 ret = st->variant->get_freq(st);
469 ret /= adis16400_3db_divisors[val16 & 0x07];
471 *val2 = (ret % 1000) * 1000;
473 mutex_unlock(&indio_dev->mlock);
476 return IIO_VAL_INT_PLUS_MICRO;
482 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \
483 .type = IIO_VOLTAGE, \
486 .extend_name = name, \
487 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
488 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
490 .scan_index = (si), \
493 .realbits = (bits), \
496 .endianness = IIO_BE, \
500 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
501 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY)
503 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
504 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC)
506 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
507 .type = IIO_ANGL_VEL, \
509 .channel2 = IIO_MOD_ ## mod, \
510 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
511 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
512 IIO_CHAN_INFO_SCALE_SHARED_BIT | \
513 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \
515 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
518 .realbits = (bits), \
521 .endianness = IIO_BE, \
525 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
528 .channel2 = IIO_MOD_ ## mod, \
529 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
530 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
531 IIO_CHAN_INFO_SCALE_SHARED_BIT | \
532 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \
534 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
537 .realbits = (bits), \
540 .endianness = IIO_BE, \
544 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
547 .channel2 = IIO_MOD_ ## mod, \
548 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
549 IIO_CHAN_INFO_SCALE_SHARED_BIT | \
550 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \
552 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
555 .realbits = (bits), \
558 .endianness = IIO_BE, \
562 #define ADIS16400_MOD_TEMP_NAME_X "x"
563 #define ADIS16400_MOD_TEMP_NAME_Y "y"
564 #define ADIS16400_MOD_TEMP_NAME_Z "z"
566 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
570 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
571 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
572 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
573 IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \
574 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \
576 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
579 .realbits = (bits), \
582 .endianness = IIO_BE, \
586 #define ADIS16400_TEMP_CHAN(addr, bits) { \
590 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
591 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
592 IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
594 .scan_index = ADIS16350_SCAN_TEMP_X, \
597 .realbits = (bits), \
600 .endianness = IIO_BE, \
604 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
607 .channel2 = IIO_MOD_ ## mod, \
608 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
609 IIO_CHAN_INFO_SCALE_SHARED_BIT, \
611 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
614 .realbits = (bits), \
617 .endianness = IIO_BE, \
621 static const struct iio_chan_spec adis16400_channels[] = {
622 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
623 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
624 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
625 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
626 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
627 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
628 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
629 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
630 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
631 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
632 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
633 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
634 IIO_CHAN_SOFT_TIMESTAMP(12)
637 static const struct iio_chan_spec adis16448_channels[] = {
638 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
639 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
640 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
641 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
642 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
643 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
644 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
645 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
646 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
648 .type = IIO_PRESSURE,
649 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
650 IIO_CHAN_INFO_SCALE_SHARED_BIT,
651 .address = ADIS16448_BARO_OUT,
652 .scan_index = ADIS16400_SCAN_BARO,
653 .scan_type = IIO_ST('s', 16, 16, 0),
655 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
656 IIO_CHAN_SOFT_TIMESTAMP(11)
659 static const struct iio_chan_spec adis16350_channels[] = {
660 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
661 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
662 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
663 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
664 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
665 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
666 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
667 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
668 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
669 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
670 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
671 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
672 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
673 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
674 IIO_CHAN_SOFT_TIMESTAMP(11)
677 static const struct iio_chan_spec adis16300_channels[] = {
678 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
679 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
680 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
681 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
682 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
683 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
684 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
685 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
686 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
687 IIO_CHAN_SOFT_TIMESTAMP(14)
690 static const struct iio_chan_spec adis16334_channels[] = {
691 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
692 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
693 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
694 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
695 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
696 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
697 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
698 IIO_CHAN_SOFT_TIMESTAMP(8)
701 static struct attribute *adis16400_attributes[] = {
702 &iio_dev_attr_sampling_frequency.dev_attr.attr,
706 static const struct attribute_group adis16400_attribute_group = {
707 .attrs = adis16400_attributes,
710 static struct adis16400_chip_info adis16400_chips[] = {
712 .channels = adis16300_channels,
713 .num_channels = ARRAY_SIZE(adis16300_channels),
714 .flags = ADIS16400_HAS_SLOW_MODE,
715 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
716 .accel_scale_micro = 5884,
717 .temp_scale_nano = 140000000, /* 0.14 C */
718 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
719 .set_freq = adis16400_set_freq,
720 .get_freq = adis16400_get_freq,
723 .channels = adis16334_channels,
724 .num_channels = ARRAY_SIZE(adis16334_channels),
725 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
726 ADIS16400_HAS_SERIAL_NUMBER,
727 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
728 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
729 .temp_scale_nano = 67850000, /* 0.06785 C */
730 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
731 .set_freq = adis16334_set_freq,
732 .get_freq = adis16334_get_freq,
735 .channels = adis16350_channels,
736 .num_channels = ARRAY_SIZE(adis16350_channels),
737 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
738 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
739 .temp_scale_nano = 145300000, /* 0.1453 C */
740 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
741 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
742 .set_freq = adis16400_set_freq,
743 .get_freq = adis16400_get_freq,
746 .channels = adis16350_channels,
747 .num_channels = ARRAY_SIZE(adis16350_channels),
748 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
749 ADIS16400_HAS_SERIAL_NUMBER,
750 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
751 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
752 .temp_scale_nano = 136000000, /* 0.136 C */
753 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
754 .set_freq = adis16400_set_freq,
755 .get_freq = adis16400_get_freq,
758 .channels = adis16350_channels,
759 .num_channels = ARRAY_SIZE(adis16350_channels),
760 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
761 ADIS16400_HAS_SERIAL_NUMBER,
762 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
763 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
764 .temp_scale_nano = 136000000, /* 0.136 C */
765 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
766 .set_freq = adis16400_set_freq,
767 .get_freq = adis16400_get_freq,
770 .channels = adis16350_channels,
771 .num_channels = ARRAY_SIZE(adis16350_channels),
772 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
773 ADIS16400_HAS_SERIAL_NUMBER,
774 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
775 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
776 .temp_scale_nano = 136000000, /* 0.136 C */
777 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
778 .set_freq = adis16400_set_freq,
779 .get_freq = adis16400_get_freq,
782 .channels = adis16400_channels,
783 .num_channels = ARRAY_SIZE(adis16400_channels),
784 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
785 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
786 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
787 .temp_scale_nano = 140000000, /* 0.14 C */
788 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
789 .set_freq = adis16400_set_freq,
790 .get_freq = adis16400_get_freq,
793 .channels = adis16448_channels,
794 .num_channels = ARRAY_SIZE(adis16448_channels),
795 .flags = ADIS16400_HAS_PROD_ID |
796 ADIS16400_HAS_SERIAL_NUMBER,
797 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
798 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
799 .temp_scale_nano = 73860000, /* 0.07386 C */
800 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
801 .set_freq = adis16334_set_freq,
802 .get_freq = adis16334_get_freq,
806 static const struct iio_info adis16400_info = {
807 .driver_module = THIS_MODULE,
808 .read_raw = &adis16400_read_raw,
809 .write_raw = &adis16400_write_raw,
810 .attrs = &adis16400_attribute_group,
811 .update_scan_mode = adis16400_update_scan_mode,
812 .debugfs_reg_access = adis_debugfs_reg_access,
815 static const unsigned long adis16400_burst_scan_mask[] = {
820 static const char * const adis16400_status_error_msgs[] = {
821 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
822 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
823 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
824 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
825 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
826 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
827 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
828 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
829 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
830 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
831 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
832 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
833 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
834 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
835 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
838 static const struct adis_data adis16400_data = {
839 .msc_ctrl_reg = ADIS16400_MSC_CTRL,
840 .glob_cmd_reg = ADIS16400_GLOB_CMD,
841 .diag_stat_reg = ADIS16400_DIAG_STAT,
846 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
847 .startup_delay = ADIS16400_STARTUP_DELAY,
849 .status_error_msgs = adis16400_status_error_msgs,
850 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
851 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
852 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
853 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
854 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
855 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
856 BIT(ADIS16400_DIAG_STAT_ALARM2) |
857 BIT(ADIS16400_DIAG_STAT_ALARM1) |
858 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
859 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
860 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
861 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
862 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
863 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
864 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
867 static int adis16400_probe(struct spi_device *spi)
869 struct adis16400_state *st;
870 struct iio_dev *indio_dev;
873 indio_dev = iio_device_alloc(sizeof(*st));
874 if (indio_dev == NULL)
877 st = iio_priv(indio_dev);
878 /* this is only used for removal purposes */
879 spi_set_drvdata(spi, indio_dev);
881 /* setup the industrialio driver allocated elements */
882 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
883 indio_dev->dev.parent = &spi->dev;
884 indio_dev->name = spi_get_device_id(spi)->name;
885 indio_dev->channels = st->variant->channels;
886 indio_dev->num_channels = st->variant->num_channels;
887 indio_dev->info = &adis16400_info;
888 indio_dev->modes = INDIO_DIRECT_MODE;
890 if (!(st->variant->flags & ADIS16400_NO_BURST))
891 indio_dev->available_scan_masks = adis16400_burst_scan_mask;
893 ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
897 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
898 adis16400_trigger_handler);
902 /* Get the device into a sane initial state */
903 ret = adis16400_initial_setup(indio_dev);
905 goto error_cleanup_buffer;
906 ret = iio_device_register(indio_dev);
908 goto error_cleanup_buffer;
910 adis16400_debugfs_init(indio_dev);
913 error_cleanup_buffer:
914 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
916 iio_device_free(indio_dev);
920 static int adis16400_remove(struct spi_device *spi)
922 struct iio_dev *indio_dev = spi_get_drvdata(spi);
923 struct adis16400_state *st = iio_priv(indio_dev);
925 iio_device_unregister(indio_dev);
926 adis16400_stop_device(indio_dev);
928 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
930 iio_device_free(indio_dev);
935 static const struct spi_device_id adis16400_id[] = {
936 {"adis16300", ADIS16300},
937 {"adis16334", ADIS16334},
938 {"adis16350", ADIS16350},
939 {"adis16354", ADIS16350},
940 {"adis16355", ADIS16350},
941 {"adis16360", ADIS16360},
942 {"adis16362", ADIS16362},
943 {"adis16364", ADIS16364},
944 {"adis16365", ADIS16360},
945 {"adis16400", ADIS16400},
946 {"adis16405", ADIS16400},
947 {"adis16448", ADIS16448},
950 MODULE_DEVICE_TABLE(spi, adis16400_id);
952 static struct spi_driver adis16400_driver = {
955 .owner = THIS_MODULE,
957 .id_table = adis16400_id,
958 .probe = adis16400_probe,
959 .remove = adis16400_remove,
961 module_spi_driver(adis16400_driver);
963 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
964 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
965 MODULE_LICENSE("GPL v2");