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nest-open-source / manifest_repos / salami / refs/heads/main / . / drivers / staging / iio / imu / adis16400_core.c
blob: 9c8f5ab7e13bec8a8761eef34eb600ff7e88f89f [file] [log] [blame]
/*
* adis16400.c support Analog Devices ADIS16400/5
* 3d 2g Linear Accelerometers,
* 3d Gyroscopes,
* 3d Magnetometers via SPI
*
* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
* Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
* Copyright (c) 2011 Analog Devices Inc.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
*/
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/delay.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>
#include <linux/list.h>
#include <linux/module.h>
#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
#include "adis16400.h"
enum adis16400_chip_variant {
ADIS16300,
ADIS16334,
ADIS16350,
ADIS16360,
ADIS16362,
ADIS16364,
ADIS16400,
};
/**
* adis16400_spi_write_reg_8() - write single byte to a register
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the register to be written
* @val: the value to write
*/
static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
u8 reg_address,
u8 val)
{
int ret;
struct adis16400_state *st = iio_priv(indio_dev);
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16400_WRITE_REG(reg_address);
st->tx[1] = val;
ret = spi_write(st->us, st->tx, 2);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
* @dev: device associated with child of actual device (iio_dev or iio_trig)
* @reg_address: the address of the lower of the two registers. Second register
* is assumed to have address one greater.
* @val: value to be written
*
* At the moment the spi framework doesn't allow global setting of cs_change.
* This means that use cannot be made of spi_write.
*/
static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
u8 lower_reg_address,
u16 value)
{
int ret;
struct spi_message msg;
struct adis16400_state *st = iio_priv(indio_dev);
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
}, {
.tx_buf = st->tx + 2,
.bits_per_word = 8,
.len = 2,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
st->tx[1] = value & 0xFF;
st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
st->tx[3] = (value >> 8) & 0xFF;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
ret = spi_sync(st->us, &msg);
mutex_unlock(&st->buf_lock);
return ret;
}
/**
* adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
* @indio_dev: iio device
* @reg_address: the address of the lower of the two registers. Second register
* is assumed to have address one greater.
* @val: somewhere to pass back the value read
*
* At the moment the spi framework doesn't allow global setting of cs_change.
* This means that use cannot be made of spi_read.
**/
static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
u8 lower_reg_address,
u16 *val)
{
struct spi_message msg;
struct adis16400_state *st = iio_priv(indio_dev);
int ret;
struct spi_transfer xfers[] = {
{
.tx_buf = st->tx,
.bits_per_word = 8,
.len = 2,
.cs_change = 1,
}, {
.rx_buf = st->rx,
.bits_per_word = 8,
.len = 2,
},
};
mutex_lock(&st->buf_lock);
st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
st->tx[1] = 0;
spi_message_init(&msg);
spi_message_add_tail(&xfers[0], &msg);
spi_message_add_tail(&xfers[1], &msg);
ret = spi_sync(st->us, &msg);
if (ret) {
dev_err(&st->us->dev,
"problem when reading 16 bit register 0x%02X",
lower_reg_address);
goto error_ret;
}
*val = (st->rx[0] << 8) | st->rx[1];
error_ret:
mutex_unlock(&st->buf_lock);
return ret;
}
static int adis16334_get_freq(struct iio_dev *indio_dev)
{
int ret;
u16 t;
ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
if (ret < 0)
return ret;
t >>= ADIS16334_RATE_DIV_SHIFT;
return (8192 >> t) / 10;
}
static int adis16334_set_freq(struct iio_dev *indio_dev, unsigned int freq)
{
unsigned int t;
t = ilog2(8192 / (freq * 10));
if (t > 0x31)
t = 0x31;
t <<= ADIS16334_RATE_DIV_SHIFT;
t |= ADIS16334_RATE_INT_CLK;
return adis16400_spi_write_reg_16(indio_dev, ADIS16400_SMPL_PRD, t);
}
static int adis16400_get_freq(struct iio_dev *indio_dev)
{
int sps, ret;
u16 t;
ret = adis16400_spi_read_reg_16(indio_dev, 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 iio_dev *indio_dev, unsigned int freq)
{
struct adis16400_state *st = iio_priv(indio_dev);
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->us->max_speed_hz = ADIS16400_SPI_SLOW;
else
st->us->max_speed_hz = ADIS16400_SPI_FAST;
return adis16400_spi_write_reg_8(indio_dev,
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, len = 0;
ret = st->variant->get_freq(indio_dev);
if (ret < 0)
return ret;
len = sprintf(buf, "%d SPS\n", ret);
return len;
}
static const unsigned adis16400_3db_divisors[] = {
[0] = 2, /* Special case */
[1] = 5,
[2] = 10,
[3] = 50,
[4] = 200,
};
static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
{
int i, ret;
u16 val16;
for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 0; i--)
if (sps/adis16400_3db_divisors[i] > val)
break;
if (i == -1)
ret = -EINVAL;
else {
ret = adis16400_spi_read_reg_16(indio_dev,
ADIS16400_SENS_AVG,
&val16);
if (ret < 0)
goto error_ret;
ret = adis16400_spi_write_reg_16(indio_dev,
ADIS16400_SENS_AVG,
(val16 & ~0x03) | i);
}
error_ret:
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 = strict_strtol(buf, 10, &val);
if (ret)
return ret;
if (val == 0)
return -EINVAL;
mutex_lock(&indio_dev->mlock);
st->variant->set_freq(indio_dev, val);
/* Also update the filter */
mutex_unlock(&indio_dev->mlock);
return ret ? ret : len;
}
static int adis16400_reset(struct iio_dev *indio_dev)
{
int ret;
ret = adis16400_spi_write_reg_8(indio_dev,
ADIS16400_GLOB_CMD,
ADIS16400_GLOB_CMD_SW_RESET);
if (ret)
dev_err(&indio_dev->dev, "problem resetting device");
return ret;
}
int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
{
int ret;
u16 msc;
ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
if (ret)
goto error_ret;
msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
if (enable)
msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
else
msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
if (ret)
goto error_ret;
error_ret:
return ret;
}
/* Power down the device */
static int adis16400_stop_device(struct iio_dev *indio_dev)
{
int ret;
u16 val = ADIS16400_SLP_CNT_POWER_OFF;
ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
if (ret)
dev_err(&indio_dev->dev,
"problem with turning device off: SLP_CNT");
return ret;
}
static int adis16400_check_status(struct iio_dev *indio_dev)
{
u16 status;
int ret;
struct device *dev = &indio_dev->dev;
ret = adis16400_spi_read_reg_16(indio_dev,
ADIS16400_DIAG_STAT, &status);
if (ret < 0) {
dev_err(dev, "Reading status failed\n");
goto error_ret;
}
ret = status;
if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
dev_err(dev, "Z-axis accelerometer self-test failure\n");
if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
dev_err(dev, "Y-axis accelerometer self-test failure\n");
if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
dev_err(dev, "X-axis accelerometer self-test failure\n");
if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
dev_err(dev, "X-axis gyroscope self-test failure\n");
if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
dev_err(dev, "Y-axis gyroscope self-test failure\n");
if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
dev_err(dev, "Z-axis gyroscope self-test failure\n");
if (status & ADIS16400_DIAG_STAT_ALARM2)
dev_err(dev, "Alarm 2 active\n");
if (status & ADIS16400_DIAG_STAT_ALARM1)
dev_err(dev, "Alarm 1 active\n");
if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
dev_err(dev, "Flash checksum error\n");
if (status & ADIS16400_DIAG_STAT_SELF_TEST)
dev_err(dev, "Self test error\n");
if (status & ADIS16400_DIAG_STAT_OVERFLOW)
dev_err(dev, "Sensor overrange\n");
if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
dev_err(dev, "SPI failure\n");
if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
dev_err(dev, "Flash update failed\n");
if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
dev_err(dev, "Power supply above 5.25V\n");
if (status & ADIS16400_DIAG_STAT_POWER_LOW)
dev_err(dev, "Power supply below 4.75V\n");
error_ret:
return ret;
}
static int adis16400_self_test(struct iio_dev *indio_dev)
{
int ret;
ret = adis16400_spi_write_reg_16(indio_dev,
ADIS16400_MSC_CTRL,
ADIS16400_MSC_CTRL_MEM_TEST);
if (ret) {
dev_err(&indio_dev->dev, "problem starting self test");
goto err_ret;
}
msleep(ADIS16400_MTEST_DELAY);
adis16400_check_status(indio_dev);
err_ret:
return ret;
}
static int adis16400_initial_setup(struct iio_dev *indio_dev)
{
int ret;
u16 prod_id, smp_prd;
unsigned int device_id;
struct adis16400_state *st = iio_priv(indio_dev);
/* use low spi speed for init if the device has a slow mode */
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
st->us->max_speed_hz = ADIS16400_SPI_SLOW;
else
st->us->max_speed_hz = ADIS16400_SPI_FAST;
st->us->mode = SPI_MODE_3;
spi_setup(st->us);
ret = adis16400_set_irq(indio_dev, false);
if (ret) {
dev_err(&indio_dev->dev, "disable irq failed");
goto err_ret;
}
ret = adis16400_self_test(indio_dev);
if (ret) {
dev_err(&indio_dev->dev, "self test failure");
goto err_ret;
}
ret = adis16400_check_status(indio_dev);
if (ret) {
adis16400_reset(indio_dev);
dev_err(&indio_dev->dev, "device not playing ball -> reset");
msleep(ADIS16400_STARTUP_DELAY);
ret = adis16400_check_status(indio_dev);
if (ret) {
dev_err(&indio_dev->dev, "giving up");
goto err_ret;
}
}
if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
ret = adis16400_spi_read_reg_16(indio_dev,
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->us->chip_select, st->us->irq);
}
/* use high spi speed if possible */
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
ret = adis16400_spi_read_reg_16(indio_dev,
ADIS16400_SMPL_PRD, &smp_prd);
if (ret)
goto err_ret;
if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
st->us->max_speed_hz = ADIS16400_SPI_FAST;
spi_setup(st->us);
}
}
err_ret:
return ret;
}
static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
adis16400_read_frequency,
adis16400_write_frequency);
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
enum adis16400_chan {
in_supply,
gyro_x,
gyro_y,
gyro_z,
accel_x,
accel_y,
accel_z,
magn_x,
magn_y,
magn_z,
temp,
temp0, temp1, temp2,
in1,
in2,
incli_x,
incli_y,
};
static u8 adis16400_addresses[18][2] = {
[in_supply] = { ADIS16400_SUPPLY_OUT },
[gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
[gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
[gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
[accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
[accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
[accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
[magn_x] = { ADIS16400_XMAGN_OUT },
[magn_y] = { ADIS16400_YMAGN_OUT },
[magn_z] = { ADIS16400_ZMAGN_OUT },
[temp] = { ADIS16400_TEMP_OUT },
[temp0] = { ADIS16350_XTEMP_OUT },
[temp1] = { ADIS16350_YTEMP_OUT },
[temp2] = { ADIS16350_ZTEMP_OUT },
[in1] = { ADIS16300_AUX_ADC },
[in2] = { ADIS16400_AUX_ADC },
[incli_x] = { ADIS16300_PITCH_OUT },
[incli_y] = { ADIS16300_ROLL_OUT }
};
static int adis16400_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
int val2,
long mask)
{
struct adis16400_state *st = iio_priv(indio_dev);
int ret, sps;
switch (mask) {
case IIO_CHAN_INFO_CALIBBIAS:
mutex_lock(&indio_dev->mlock);
ret = adis16400_spi_write_reg_16(indio_dev,
adis16400_addresses[chan->address][1],
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(indio_dev);
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 mask)
{
struct adis16400_state *st = iio_priv(indio_dev);
int ret, shift;
s16 val16;
switch (mask) {
case IIO_CHAN_INFO_RAW:
mutex_lock(&indio_dev->mlock);
ret = adis16400_spi_read_reg_16(indio_dev,
adis16400_addresses[chan->address][0],
&val16);
if (ret) {
mutex_unlock(&indio_dev->mlock);
return ret;
}
val16 &= (1 << chan->scan_type.realbits) - 1;
if (chan->scan_type.sign == 's') {
shift = 16 - chan->scan_type.realbits;
val16 = (s16)(val16 << shift) >> shift;
}
*val = val16;
mutex_unlock(&indio_dev->mlock);
return IIO_VAL_INT;
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 = adis16400_spi_read_reg_16(indio_dev,
adis16400_addresses[chan->address][1],
&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 = adis16400_spi_read_reg_16(indio_dev,
ADIS16400_SENS_AVG,
&val16);
if (ret < 0) {
mutex_unlock(&indio_dev->mlock);
return ret;
}
val16 = st->variant->get_freq(indio_dev);
if (ret > 0)
*val = ret/adis16400_3db_divisors[val16 & 0x03];
*val2 = 0;
mutex_unlock(&indio_dev->mlock);
if (ret < 0)
return ret;
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
}
static const struct iio_chan_spec adis16400_channels[] = {
{
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 0,
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in_supply,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_Y,
.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 = gyro_y,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_Z,
.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 = gyro_z,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = accel_x,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_Y,
.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 = accel_y,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_Z,
.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 = accel_z,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_MAGN,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = magn_x,
.scan_index = ADIS16400_SCAN_MAGN_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_MAGN,
.modified = 1,
.channel2 = IIO_MOD_Y,
.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 = magn_y,
.scan_index = ADIS16400_SCAN_MAGN_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_MAGN,
.modified = 1,
.channel2 = IIO_MOD_Z,
.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 = magn_z,
.scan_index = ADIS16400_SCAN_MAGN_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.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 = temp,
.scan_index = ADIS16400_SCAN_TEMP,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in2,
.scan_index = ADIS16400_SCAN_ADC_0,
.scan_type = IIO_ST('s', 12, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(12)
};
static const struct iio_chan_spec adis16350_channels[] = {
{
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 0,
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in_supply,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 12, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_Y,
.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 = gyro_y,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_Z,
.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 = gyro_z,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = accel_x,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_Y,
.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 = accel_y,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_Z,
.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 = accel_z,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_TEMP,
.indexed = 1,
.channel = 0,
.extend_name = "x",
.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 = temp0,
.scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_TEMP,
.indexed = 1,
.channel = 1,
.extend_name = "y",
.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 = temp1,
.scan_index = ADIS16350_SCAN_TEMP_Y,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_TEMP,
.indexed = 1,
.channel = 2,
.extend_name = "z",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = temp2,
.scan_index = ADIS16350_SCAN_TEMP_Z,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in1,
.scan_index = ADIS16350_SCAN_ADC_0,
.scan_type = IIO_ST('s', 12, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(11)
};
static const struct iio_chan_spec adis16300_channels[] = {
{
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 0,
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in_supply,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 12, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = accel_x,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_Y,
.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 = accel_y,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_Z,
.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 = accel_z,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.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 = temp0,
.scan_index = ADIS16400_SCAN_TEMP,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_VOLTAGE,
.indexed = 1,
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
.address = in1,
.scan_index = ADIS16350_SCAN_ADC_0,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_INCLI,
.modified = 1,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT,
.address = incli_x,
.scan_index = ADIS16300_SCAN_INCLI_X,
.scan_type = IIO_ST('s', 13, 16, 0),
}, {
.type = IIO_INCLI,
.modified = 1,
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT,
.address = incli_y,
.scan_index = ADIS16300_SCAN_INCLI_Y,
.scan_type = IIO_ST('s', 13, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(14)
};
static const struct iio_chan_spec adis16334_channels[] = {
{
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = gyro_x,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_Y,
.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 = gyro_y,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ANGL_VEL,
.modified = 1,
.channel2 = IIO_MOD_Z,
.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 = gyro_z,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_X,
.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 = accel_x,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_Y,
.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 = accel_y,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.type = IIO_ACCEL,
.modified = 1,
.channel2 = IIO_MOD_Z,
.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 = accel_z,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.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_SHARED_BIT,
.address = temp0,
.scan_index = ADIS16400_SCAN_TEMP,
.scan_type = IIO_ST('s', 14, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(12)
};
static struct attribute *adis16400_attributes[] = {
&iio_dev_attr_sampling_frequency.dev_attr.attr,
&iio_const_attr_sampling_frequency_available.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 */
.default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) |
(1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) |
(1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) |
(1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) |
(1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) |
(1 << 14),
.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 */
.default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) |
(1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) |
(1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) |
(1 << ADIS16400_SCAN_ACC_Z),
.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 */
.default_scan_mask = 0x7FF,
.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 */
.default_scan_mask = 0x7FF,
.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 */
.default_scan_mask = 0x7FF,
.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 */
.default_scan_mask = 0x7FF,
.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 */
.default_scan_mask = 0xFFF,
.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,
};
static int adis16400_probe(struct spi_device *spi)
{
int ret;
struct adis16400_state *st;
struct iio_dev *indio_dev = iio_device_alloc(sizeof(*st));
if (indio_dev == NULL) {
ret = -ENOMEM;
goto error_ret;
}
st = iio_priv(indio_dev);
/* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
st->us = spi;
mutex_init(&st->buf_lock);
/* 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;
ret = adis16400_configure_ring(indio_dev);
if (ret)
goto error_free_dev;
ret = iio_buffer_register(indio_dev,
st->variant->channels,
st->variant->num_channels);
if (ret) {
dev_err(&spi->dev, "failed to initialize the ring\n");
goto error_unreg_ring_funcs;
}
if (spi->irq) {
ret = adis16400_probe_trigger(indio_dev);
if (ret)
goto error_uninitialize_ring;
}
/* Get the device into a sane initial state */
ret = adis16400_initial_setup(indio_dev);
if (ret)
goto error_remove_trigger;
ret = iio_device_register(indio_dev);
if (ret)
goto error_remove_trigger;
return 0;
error_remove_trigger:
if (spi->irq)
adis16400_remove_trigger(indio_dev);
error_uninitialize_ring:
iio_buffer_unregister(indio_dev);
error_unreg_ring_funcs:
adis16400_unconfigure_ring(indio_dev);
error_free_dev:
iio_device_free(indio_dev);
error_ret:
return ret;
}
/* fixme, confirm ordering in this function */
static int adis16400_remove(struct spi_device *spi)
{
struct iio_dev *indio_dev = spi_get_drvdata(spi);
iio_device_unregister(indio_dev);
adis16400_stop_device(indio_dev);
adis16400_remove_trigger(indio_dev);
iio_buffer_unregister(indio_dev);
adis16400_unconfigure_ring(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");