staging:iio: Move adis16400 out of staging
This adis16400 driver is in pretty good shape now, so move it out of staging. Signed-off-by: Lars-Peter Clausen <lars@metafoo.de> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
This commit is contained in:
Lars-Peter Clausen
committed by
Jonathan Cameron
Jonathan Cameron
parent
f4c6d64bcf
commit
d6b09bd85d
@@ -3,6 +3,17 @@
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#
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menu "Inertial measurement units"
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config ADIS16400
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tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
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depends on SPI
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select IIO_ADIS_LIB
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select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
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help
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Say yes here to build support for Analog Devices adis16300, adis16344,
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adis16350, adis16354, adis16355, adis16360, adis16362, adis16364,
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adis16365, adis16400 and adis16405 triaxial inertial sensors
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(adis16400 series also have magnetometers).
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config ADIS16480
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tristate "Analog Devices ADIS16480 and similar IMU driver"
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depends on SPI
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@@ -2,6 +2,9 @@
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# Makefile for Inertial Measurement Units
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#
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adis16400-y := adis16400_core.o
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adis16400-$(CONFIG_IIO_BUFFER) += adis16400_buffer.o
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obj-$(CONFIG_ADIS16400) += adis16400.o
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obj-$(CONFIG_ADIS16480) += adis16480.o
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adis_lib-y += adis.o
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204
drivers/iio/imu/adis16400.h
Normal file
204
drivers/iio/imu/adis16400.h
Normal file
@@ -0,0 +1,204 @@
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/*
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* adis16400.h support Analog Devices ADIS16400
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* 3d 18g accelerometers,
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* 3d gyroscopes,
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* 3d 2.5gauss 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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*
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* Loosely based upon lis3l02dq.h
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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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#ifndef SPI_ADIS16400_H_
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#define SPI_ADIS16400_H_
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#include <linux/iio/imu/adis.h>
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#define ADIS16400_STARTUP_DELAY 290 /* ms */
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#define ADIS16400_MTEST_DELAY 90 /* ms */
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#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
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#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
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#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
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#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
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#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
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#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
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#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
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#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
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#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
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#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
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#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
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#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
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#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
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#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
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#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
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#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
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#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
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#define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
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#define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
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/* Calibration parameters */
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#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
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#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
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#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
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#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
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#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
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#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
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#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
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#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
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#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
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#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
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#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
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#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
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#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
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#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
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#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
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#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
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#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
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#define ADIS16400_DIAG_STAT 0x3C /* System status */
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/* Alarm functions */
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#define ADIS16400_GLOB_CMD 0x3E /* System command */
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#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
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#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
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#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
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#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
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#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
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#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
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#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
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#define ADIS16400_ERROR_ACTIVE (1<<14)
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#define ADIS16400_NEW_DATA (1<<14)
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/* MSC_CTRL */
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#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
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#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
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#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
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#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
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#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
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#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
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#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
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#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
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#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
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/* SMPL_PRD */
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#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
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#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
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/* DIAG_STAT */
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#define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
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#define ADIS16400_DIAG_STAT_YACCL_FAIL 14
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#define ADIS16400_DIAG_STAT_XACCL_FAIL 13
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#define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
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#define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
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#define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
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#define ADIS16400_DIAG_STAT_ALARM2 9
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#define ADIS16400_DIAG_STAT_ALARM1 8
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#define ADIS16400_DIAG_STAT_FLASH_CHK 6
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#define ADIS16400_DIAG_STAT_SELF_TEST 5
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#define ADIS16400_DIAG_STAT_OVERFLOW 4
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#define ADIS16400_DIAG_STAT_SPI_FAIL 3
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#define ADIS16400_DIAG_STAT_FLASH_UPT 2
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#define ADIS16400_DIAG_STAT_POWER_HIGH 1
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#define ADIS16400_DIAG_STAT_POWER_LOW 0
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/* GLOB_CMD */
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#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
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#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
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#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
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#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
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#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
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#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
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/* SLP_CNT */
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#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
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#define ADIS16334_RATE_DIV_SHIFT 8
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#define ADIS16334_RATE_INT_CLK BIT(0)
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#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
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#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
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#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
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#define ADIS16400_HAS_PROD_ID BIT(0)
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#define ADIS16400_NO_BURST BIT(1)
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#define ADIS16400_HAS_SLOW_MODE BIT(2)
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struct adis16400_state;
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struct adis16400_chip_info {
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const struct iio_chan_spec *channels;
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const int num_channels;
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const long flags;
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unsigned int gyro_scale_micro;
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unsigned int accel_scale_micro;
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int temp_scale_nano;
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int temp_offset;
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int (*set_freq)(struct adis16400_state *st, unsigned int freq);
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int (*get_freq)(struct adis16400_state *st);
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};
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/**
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* struct adis16400_state - device instance specific data
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* @variant: chip variant info
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* @filt_int: integer part of requested filter frequency
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* @adis: adis device
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**/
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struct adis16400_state {
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struct adis16400_chip_info *variant;
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int filt_int;
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struct adis adis;
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};
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/* At the moment triggers are only used for ring buffer
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* filling. This may change!
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*/
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enum {
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ADIS16400_SCAN_SUPPLY,
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ADIS16400_SCAN_GYRO_X,
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ADIS16400_SCAN_GYRO_Y,
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ADIS16400_SCAN_GYRO_Z,
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ADIS16400_SCAN_ACC_X,
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ADIS16400_SCAN_ACC_Y,
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ADIS16400_SCAN_ACC_Z,
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ADIS16400_SCAN_MAGN_X,
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ADIS16400_SCAN_MAGN_Y,
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ADIS16400_SCAN_MAGN_Z,
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ADIS16350_SCAN_TEMP_X,
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ADIS16350_SCAN_TEMP_Y,
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ADIS16350_SCAN_TEMP_Z,
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ADIS16300_SCAN_INCLI_X,
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ADIS16300_SCAN_INCLI_Y,
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ADIS16400_SCAN_ADC,
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};
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#ifdef CONFIG_IIO_BUFFER
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ssize_t adis16400_read_data_from_ring(struct device *dev,
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struct device_attribute *attr,
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char *buf);
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int adis16400_update_scan_mode(struct iio_dev *indio_dev,
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const unsigned long *scan_mask);
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irqreturn_t adis16400_trigger_handler(int irq, void *p);
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#else /* CONFIG_IIO_BUFFER */
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#define adis16400_update_scan_mode NULL
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#define adis16400_trigger_handler NULL
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#endif /* CONFIG_IIO_BUFFER */
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#endif /* SPI_ADIS16400_H_ */
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96
drivers/iio/imu/adis16400_buffer.c
Normal file
96
drivers/iio/imu/adis16400_buffer.c
Normal file
@@ -0,0 +1,96 @@
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#include <linux/interrupt.h>
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#include <linux/mutex.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/bitops.h>
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#include <linux/export.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/triggered_buffer.h>
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#include <linux/iio/trigger_consumer.h>
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#include "adis16400.h"
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int adis16400_update_scan_mode(struct iio_dev *indio_dev,
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const unsigned long *scan_mask)
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{
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struct adis16400_state *st = iio_priv(indio_dev);
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struct adis *adis = &st->adis;
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uint16_t *tx, *rx;
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if (st->variant->flags & ADIS16400_NO_BURST)
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return adis_update_scan_mode(indio_dev, scan_mask);
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kfree(adis->xfer);
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kfree(adis->buffer);
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adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL);
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if (!adis->xfer)
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return -ENOMEM;
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adis->buffer = kzalloc(indio_dev->scan_bytes + sizeof(u16),
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GFP_KERNEL);
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if (!adis->buffer)
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return -ENOMEM;
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rx = adis->buffer;
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tx = adis->buffer + indio_dev->scan_bytes;
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tx[0] = ADIS_READ_REG(ADIS16400_GLOB_CMD);
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tx[1] = 0;
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adis->xfer[0].tx_buf = tx;
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adis->xfer[0].bits_per_word = 8;
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adis->xfer[0].len = 2;
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adis->xfer[1].tx_buf = tx;
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adis->xfer[1].bits_per_word = 8;
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adis->xfer[1].len = indio_dev->scan_bytes;
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spi_message_init(&adis->msg);
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spi_message_add_tail(&adis->xfer[0], &adis->msg);
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spi_message_add_tail(&adis->xfer[1], &adis->msg);
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return 0;
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}
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irqreturn_t adis16400_trigger_handler(int irq, void *p)
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{
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struct iio_poll_func *pf = p;
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struct iio_dev *indio_dev = pf->indio_dev;
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struct adis16400_state *st = iio_priv(indio_dev);
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struct adis *adis = &st->adis;
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u32 old_speed_hz = st->adis.spi->max_speed_hz;
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int ret;
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if (!adis->buffer)
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return -ENOMEM;
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if (!(st->variant->flags & ADIS16400_NO_BURST) &&
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st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
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st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
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spi_setup(st->adis.spi);
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}
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ret = spi_sync(adis->spi, &adis->msg);
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if (ret)
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dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
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if (!(st->variant->flags & ADIS16400_NO_BURST)) {
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st->adis.spi->max_speed_hz = old_speed_hz;
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spi_setup(st->adis.spi);
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}
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/* Guaranteed to be aligned with 8 byte boundary */
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if (indio_dev->scan_timestamp) {
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void *b = adis->buffer + indio_dev->scan_bytes - sizeof(s64);
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*(s64 *)b = pf->timestamp;
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}
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iio_push_to_buffers(indio_dev, adis->buffer);
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iio_trigger_notify_done(indio_dev->trig);
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return IRQ_HANDLED;
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}
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812
drivers/iio/imu/adis16400_core.c
Normal file
812
drivers/iio/imu/adis16400_core.c
Normal file
@@ -0,0 +1,812 @@
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/*
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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/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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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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ADIS16400,
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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 (8192 >> t) / 10;
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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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freq *= 10;
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if (freq < 8192)
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t = ilog2(8192 / 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;
|
||||
t |= ADIS16334_RATE_INT_CLK;
|
||||
|
||||
return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
|
||||
}
|
||||
|
||||
static int adis16400_get_freq(struct adis16400_state *st)
|
||||
{
|
||||
int sps, ret;
|
||||
uint16_t t;
|
||||
|
||||
ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
|
||||
sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
|
||||
|
||||
return sps;
|
||||
}
|
||||
|
||||
static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
|
||||
{
|
||||
unsigned int t;
|
||||
|
||||
t = 1638 / freq;
|
||||
if (t > 0)
|
||||
t--;
|
||||
t &= ADIS16400_SMPL_PRD_DIV_MASK;
|
||||
|
||||
if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
|
||||
st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
|
||||
else
|
||||
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
|
||||
|
||||
return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, t);
|
||||
}
|
||||
|
||||
static ssize_t adis16400_read_frequency(struct device *dev,
|
||||
struct device_attribute *attr,
|
||||
char *buf)
|
||||
{
|
||||
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
|
||||
struct adis16400_state *st = iio_priv(indio_dev);
|
||||
int ret;
|
||||
|
||||
ret = st->variant->get_freq(st);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
return sprintf(buf, "%d\n", ret);
|
||||
}
|
||||
|
||||
static const unsigned adis16400_3db_divisors[] = {
|
||||
[0] = 2, /* Special case */
|
||||
[1] = 6,
|
||||
[2] = 12,
|
||||
[3] = 25,
|
||||
[4] = 50,
|
||||
[5] = 100,
|
||||
[6] = 200,
|
||||
[7] = 200, /* Not a valid setting */
|
||||
};
|
||||
|
||||
static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
|
||||
{
|
||||
struct adis16400_state *st = iio_priv(indio_dev);
|
||||
uint16_t val16;
|
||||
int i, ret;
|
||||
|
||||
for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
|
||||
if (sps / adis16400_3db_divisors[i] >= val)
|
||||
break;
|
||||
}
|
||||
|
||||
ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
|
||||
ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
|
||||
(val16 & ~0x07) | i);
|
||||
return ret;
|
||||
}
|
||||
|
||||
static ssize_t adis16400_write_frequency(struct device *dev,
|
||||
struct device_attribute *attr, const char *buf, size_t len)
|
||||
{
|
||||
struct iio_dev *indio_dev = dev_to_iio_dev(dev);
|
||||
struct adis16400_state *st = iio_priv(indio_dev);
|
||||
long val;
|
||||
int ret;
|
||||
|
||||
ret = kstrtol(buf, 10, &val);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
if (val == 0)
|
||||
return -EINVAL;
|
||||
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
st->variant->set_freq(st, val);
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
|
||||
return ret ? ret : len;
|
||||
}
|
||||
|
||||
/* Power down the device */
|
||||
static int adis16400_stop_device(struct iio_dev *indio_dev)
|
||||
{
|
||||
struct adis16400_state *st = iio_priv(indio_dev);
|
||||
int ret;
|
||||
|
||||
ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
|
||||
ADIS16400_SLP_CNT_POWER_OFF);
|
||||
if (ret)
|
||||
dev_err(&indio_dev->dev,
|
||||
"problem with turning device off: SLP_CNT");
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
static int adis16400_initial_setup(struct iio_dev *indio_dev)
|
||||
{
|
||||
struct adis16400_state *st = iio_priv(indio_dev);
|
||||
uint16_t prod_id, smp_prd;
|
||||
unsigned int device_id;
|
||||
int ret;
|
||||
|
||||
/* use low spi speed for init if the device has a slow mode */
|
||||
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
|
||||
st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
|
||||
else
|
||||
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
|
||||
st->adis.spi->mode = SPI_MODE_3;
|
||||
spi_setup(st->adis.spi);
|
||||
|
||||
ret = adis_initial_startup(&st->adis);
|
||||
if (ret)
|
||||
return ret;
|
||||
|
||||
if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
|
||||
ret = adis_read_reg_16(&st->adis,
|
||||
ADIS16400_PRODUCT_ID, &prod_id);
|
||||
if (ret)
|
||||
goto err_ret;
|
||||
|
||||
sscanf(indio_dev->name, "adis%u\n", &device_id);
|
||||
|
||||
if (prod_id != device_id)
|
||||
dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
|
||||
device_id, prod_id);
|
||||
|
||||
dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
|
||||
indio_dev->name, prod_id,
|
||||
st->adis.spi->chip_select, st->adis.spi->irq);
|
||||
}
|
||||
/* use high spi speed if possible */
|
||||
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
|
||||
ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
|
||||
if (ret)
|
||||
goto err_ret;
|
||||
|
||||
if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
|
||||
st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
|
||||
spi_setup(st->adis.spi);
|
||||
}
|
||||
}
|
||||
|
||||
err_ret:
|
||||
return ret;
|
||||
}
|
||||
|
||||
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
|
||||
adis16400_read_frequency,
|
||||
adis16400_write_frequency);
|
||||
|
||||
static const uint8_t adis16400_addresses[] = {
|
||||
[ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
|
||||
[ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
|
||||
[ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
|
||||
[ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
|
||||
[ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
|
||||
[ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
|
||||
};
|
||||
|
||||
static int adis16400_write_raw(struct iio_dev *indio_dev,
|
||||
struct iio_chan_spec const *chan, int val, int val2, long info)
|
||||
{
|
||||
struct adis16400_state *st = iio_priv(indio_dev);
|
||||
int ret, sps;
|
||||
|
||||
switch (info) {
|
||||
case IIO_CHAN_INFO_CALIBBIAS:
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
ret = adis_write_reg_16(&st->adis,
|
||||
adis16400_addresses[chan->scan_index], val);
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
return ret;
|
||||
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
|
||||
/*
|
||||
* Need to cache values so we can update if the frequency
|
||||
* changes.
|
||||
*/
|
||||
mutex_lock(&indio_dev->mlock);
|
||||
st->filt_int = val;
|
||||
/* Work out update to current value */
|
||||
sps = st->variant->get_freq(st);
|
||||
if (sps < 0) {
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
return sps;
|
||||
}
|
||||
|
||||
ret = adis16400_set_filter(indio_dev, sps, val);
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
return ret;
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
static int adis16400_read_raw(struct iio_dev *indio_dev,
|
||||
struct iio_chan_spec const *chan, int *val, int *val2, long info)
|
||||
{
|
||||
struct adis16400_state *st = iio_priv(indio_dev);
|
||||
int16_t val16;
|
||||
int ret;
|
||||
|
||||
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;
|
||||
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 = ((val16 & 0xFFF) << 4) >> 4;
|
||||
*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)
|
||||
*val = ret / adis16400_3db_divisors[val16 & 0x07];
|
||||
*val2 = 0;
|
||||
mutex_unlock(&indio_dev->mlock);
|
||||
if (ret < 0)
|
||||
return ret;
|
||||
return IIO_VAL_INT_PLUS_MICRO;
|
||||
default:
|
||||
return -EINVAL;
|
||||
}
|
||||
}
|
||||
|
||||
#define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si) { \
|
||||
.type = IIO_VOLTAGE, \
|
||||
.indexed = 1, \
|
||||
.channel = 0, \
|
||||
.extend_name = name, \
|
||||
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
|
||||
.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)
|
||||
|
||||
#define ADIS16400_AUX_ADC_CHAN(addr, bits) \
|
||||
ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC)
|
||||
|
||||
#define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
|
||||
.type = IIO_ANGL_VEL, \
|
||||
.modified = 1, \
|
||||
.channel2 = IIO_MOD_ ## mod, \
|
||||
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SHARED_BIT | \
|
||||
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \
|
||||
.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 = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SHARED_BIT | \
|
||||
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \
|
||||
.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 = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SHARED_BIT | \
|
||||
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \
|
||||
.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 = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT, \
|
||||
.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 = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
|
||||
.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 = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
||||
IIO_CHAN_INFO_SCALE_SHARED_BIT, \
|
||||
.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(12)
|
||||
};
|
||||
|
||||
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(11)
|
||||
};
|
||||
|
||||
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(14)
|
||||
};
|
||||
|
||||
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(8)
|
||||
};
|
||||
|
||||
static struct attribute *adis16400_attributes[] = {
|
||||
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
||||
NULL
|
||||
};
|
||||
|
||||
static const struct attribute_group adis16400_attribute_group = {
|
||||
.attrs = adis16400_attributes,
|
||||
};
|
||||
|
||||
static struct adis16400_chip_info adis16400_chips[] = {
|
||||
[ADIS16300] = {
|
||||
.channels = adis16300_channels,
|
||||
.num_channels = ARRAY_SIZE(adis16300_channels),
|
||||
.flags = ADIS16400_HAS_SLOW_MODE,
|
||||
.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,
|
||||
.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,
|
||||
.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,
|
||||
.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,
|
||||
.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,
|
||||
},
|
||||
[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,
|
||||
}
|
||||
};
|
||||
|
||||
static const struct iio_info adis16400_info = {
|
||||
.driver_module = THIS_MODULE,
|
||||
.read_raw = &adis16400_read_raw,
|
||||
.write_raw = &adis16400_write_raw,
|
||||
.attrs = &adis16400_attribute_group,
|
||||
.update_scan_mode = adis16400_update_scan_mode,
|
||||
};
|
||||
|
||||
static const unsigned long adis16400_burst_scan_mask[] = {
|
||||
~0UL,
|
||||
0,
|
||||
};
|
||||
|
||||
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 int adis16400_probe(struct spi_device *spi)
|
||||
{
|
||||
struct adis16400_state *st;
|
||||
struct iio_dev *indio_dev;
|
||||
int ret;
|
||||
|
||||
indio_dev = iio_device_alloc(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))
|
||||
indio_dev->available_scan_masks = adis16400_burst_scan_mask;
|
||||
|
||||
ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
|
||||
if (ret)
|
||||
goto error_free_dev;
|
||||
|
||||
ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
|
||||
adis16400_trigger_handler);
|
||||
if (ret)
|
||||
goto error_free_dev;
|
||||
|
||||
/* 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;
|
||||
|
||||
return 0;
|
||||
|
||||
error_cleanup_buffer:
|
||||
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
||||
error_free_dev:
|
||||
iio_device_free(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);
|
||||
|
||||
iio_device_free(indio_dev);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const struct spi_device_id adis16400_id[] = {
|
||||
{"adis16300", ADIS16300},
|
||||
{"adis16334", ADIS16334},
|
||||
{"adis16350", ADIS16350},
|
||||
{"adis16354", ADIS16350},
|
||||
{"adis16355", ADIS16350},
|
||||
{"adis16360", ADIS16360},
|
||||
{"adis16362", ADIS16362},
|
||||
{"adis16364", ADIS16364},
|
||||
{"adis16365", ADIS16360},
|
||||
{"adis16400", ADIS16400},
|
||||
{"adis16405", ADIS16400},
|
||||
{}
|
||||
};
|
||||
MODULE_DEVICE_TABLE(spi, adis16400_id);
|
||||
|
||||
static struct spi_driver adis16400_driver = {
|
||||
.driver = {
|
||||
.name = "adis16400",
|
||||
.owner = THIS_MODULE,
|
||||
},
|
||||
.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");
|
||||
Reference in New Issue
Block a user