// SPDX-License-Identifier: GPL-2.0-only /* * adis16400.c support Analog Devices ADIS16400/5 * 3d 2g Linear Accelerometers, * 3d Gyroscopes, * 3d Magnetometers via SPI * * Copyright (c) 2009 Manuel Stahl * Copyright (c) 2007 Jonathan Cameron * Copyright (c) 2011 Analog Devices Inc. */ #include #include #include #include #include #include #include #include #include #include #include #define ADIS16400_STARTUP_DELAY 290 /* ms */ #define ADIS16400_MTEST_DELAY 90 /* ms */ #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */ #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */ #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */ #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */ #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */ #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */ #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */ #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */ #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */ #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */ #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */ #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */ #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */ #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */ #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */ #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */ #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */ #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */ #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */ #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */ #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */ /* Calibration parameters */ #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */ #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */ #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */ #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */ #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */ #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */ #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */ #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */ #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */ #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */ #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */ #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */ #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */ #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */ #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */ #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */ #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */ #define ADIS16400_DIAG_STAT 0x3C /* System status */ /* Alarm functions */ #define ADIS16400_GLOB_CMD 0x3E /* System command */ #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */ #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */ #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */ #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */ #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */ #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */ #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */ #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */ #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */ #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */ #define ADIS16400_ERROR_ACTIVE (1<<14) #define ADIS16400_NEW_DATA (1<<14) /* MSC_CTRL */ #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11) #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10) #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9) #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8) #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7) #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6) #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2) #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1) #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0) /* SMPL_PRD */ #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7) #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F /* DIAG_STAT */ #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15 #define ADIS16400_DIAG_STAT_YACCL_FAIL 14 #define ADIS16400_DIAG_STAT_XACCL_FAIL 13 #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12 #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10 #define ADIS16400_DIAG_STAT_ALARM2 9 #define ADIS16400_DIAG_STAT_ALARM1 8 #define ADIS16400_DIAG_STAT_FLASH_CHK 6 #define ADIS16400_DIAG_STAT_SELF_TEST 5 #define ADIS16400_DIAG_STAT_OVERFLOW 4 #define ADIS16400_DIAG_STAT_SPI_FAIL 3 #define ADIS16400_DIAG_STAT_FLASH_UPT 2 #define ADIS16400_DIAG_STAT_POWER_HIGH 1 #define ADIS16400_DIAG_STAT_POWER_LOW 0 /* GLOB_CMD */ #define ADIS16400_GLOB_CMD_SW_RESET (1<<7) #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4) #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3) #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2) #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1) #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0) /* SLP_CNT */ #define ADIS16400_SLP_CNT_POWER_OFF (1<<8) #define ADIS16334_RATE_DIV_SHIFT 8 #define ADIS16334_RATE_INT_CLK BIT(0) #define ADIS16400_SPI_SLOW (u32)(300 * 1000) #define ADIS16400_SPI_BURST (u32)(1000 * 1000) #define ADIS16400_SPI_FAST (u32)(2000 * 1000) #define ADIS16400_HAS_PROD_ID BIT(0) #define ADIS16400_NO_BURST BIT(1) #define ADIS16400_HAS_SLOW_MODE BIT(2) #define ADIS16400_HAS_SERIAL_NUMBER BIT(3) #define ADIS16400_BURST_DIAG_STAT BIT(4) struct adis16400_state; struct adis16400_chip_info { const struct iio_chan_spec *channels; const struct adis_data adis_data; const int num_channels; const long flags; unsigned int gyro_scale_micro; unsigned int accel_scale_micro; int temp_scale_nano; int temp_offset; /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */ int (*set_freq)(struct adis16400_state *st, unsigned int freq); int (*get_freq)(struct adis16400_state *st); }; /** * struct adis16400_state - device instance specific data * @variant: chip variant info * @filt_int: integer part of requested filter frequency * @adis: adis device * @avail_scan_mask: NULL terminated array of bitmaps of channels * that must be enabled together **/ struct adis16400_state { struct adis16400_chip_info *variant; int filt_int; struct adis adis; unsigned long avail_scan_mask[2]; }; /* At the moment triggers are only used for ring buffer * filling. This may change! */ enum { ADIS16400_SCAN_SUPPLY, ADIS16400_SCAN_GYRO_X, ADIS16400_SCAN_GYRO_Y, ADIS16400_SCAN_GYRO_Z, ADIS16400_SCAN_ACC_X, ADIS16400_SCAN_ACC_Y, ADIS16400_SCAN_ACC_Z, ADIS16400_SCAN_MAGN_X, ADIS16400_SCAN_MAGN_Y, ADIS16400_SCAN_MAGN_Z, ADIS16400_SCAN_BARO, ADIS16350_SCAN_TEMP_X, ADIS16350_SCAN_TEMP_Y, ADIS16350_SCAN_TEMP_Z, ADIS16300_SCAN_INCLI_X, ADIS16300_SCAN_INCLI_Y, ADIS16400_SCAN_ADC, ADIS16400_SCAN_TIMESTAMP, }; static ssize_t adis16400_show_serial_number(struct file *file, char __user *userbuf, size_t count, loff_t *ppos) { struct adis16400_state *st = file->private_data; u16 lot1, lot2, serial_number; char buf[16]; size_t len; int ret; ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1); if (ret) return ret; ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2); if (ret) return ret; ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER, &serial_number); if (ret) return ret; len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2, serial_number); return simple_read_from_buffer(userbuf, count, ppos, buf, len); } static const struct file_operations adis16400_serial_number_fops = { .open = simple_open, .read = adis16400_show_serial_number, .llseek = default_llseek, .owner = THIS_MODULE, }; static int adis16400_show_product_id(void *arg, u64 *val) { struct adis16400_state *st = arg; uint16_t prod_id; int ret; ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id); if (ret) return ret; *val = prod_id; return 0; } DEFINE_DEBUGFS_ATTRIBUTE(adis16400_product_id_fops, adis16400_show_product_id, NULL, "%lld\n"); static int adis16400_show_flash_count(void *arg, u64 *val) { struct adis16400_state *st = arg; uint16_t flash_count; int ret; ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count); if (ret) return ret; *val = flash_count; return 0; } DEFINE_DEBUGFS_ATTRIBUTE(adis16400_flash_count_fops, adis16400_show_flash_count, NULL, "%lld\n"); static void adis16400_debugfs_init(struct iio_dev *indio_dev) { struct adis16400_state *st = iio_priv(indio_dev); struct dentry *d = iio_get_debugfs_dentry(indio_dev); if (!IS_ENABLED(CONFIG_DEBUG_FS)) return; if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER) debugfs_create_file_unsafe("serial_number", 0400, d, st, &adis16400_serial_number_fops); if (st->variant->flags & ADIS16400_HAS_PROD_ID) debugfs_create_file_unsafe("product_id", 0400, d, st, &adis16400_product_id_fops); debugfs_create_file_unsafe("flash_count", 0400, d, st, &adis16400_flash_count_fops); } enum adis16400_chip_variant { ADIS16300, ADIS16334, ADIS16350, ADIS16360, ADIS16362, ADIS16364, ADIS16367, ADIS16400, ADIS16445, ADIS16448, }; static int adis16334_get_freq(struct adis16400_state *st) { int ret; uint16_t t; ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t); if (ret) return ret; t >>= ADIS16334_RATE_DIV_SHIFT; return 819200 >> t; } static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq) { unsigned int t; if (freq < 819200) t = ilog2(819200 / freq); else t = 0; if (t > 0x31) t = 0x31; 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) return ret; sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404; 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; uint8_t val = 0; t = 1638404 / freq; if (t >= 128) { val |= ADIS16400_SMPL_PRD_TIME_BASE; t = 52851 / freq; if (t >= 128) t = 127; } else if (t != 0) { t--; } val |= t; if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE)) 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, val); } static const unsigned int 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) return ret; ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG, (val16 & ~0x07) | i); return ret; } /* 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; if (sscanf(indio_dev->name, "adis%u\n", &device_id) != 1) { ret = -EINVAL; goto err_ret; } 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, spi_get_chipselect(st->adis.spi, 0), 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 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 sps; switch (info) { case IIO_CHAN_INFO_CALIBBIAS: return adis_write_reg_16(&st->adis, adis16400_addresses[chan->scan_index], val); case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: /* * Need to cache values so we can update if the frequency * changes. */ adis_dev_auto_scoped_lock(&st->adis) { st->filt_int = val; /* Work out update to current value */ sps = st->variant->get_freq(st); if (sps < 0) return sps; return __adis16400_set_filter(indio_dev, sps, val * 1000 + val2 / 1000); } unreachable(); case IIO_CHAN_INFO_SAMP_FREQ: sps = val * 1000 + val2 / 1000; if (sps <= 0) return -EINVAL; adis_dev_auto_scoped_lock(&st->adis) return st->variant->set_freq(st, sps); unreachable(); 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; case IIO_PRESSURE: /* 20 uBar = 0.002kPascal */ *val = 0; *val2 = 2000; return IIO_VAL_INT_PLUS_MICRO; default: return -EINVAL; } case IIO_CHAN_INFO_CALIBBIAS: ret = adis_read_reg_16(&st->adis, adis16400_addresses[chan->scan_index], &val16); if (ret) return ret; val16 = sign_extend32(val16, 11); *val = val16; return IIO_VAL_INT; case IIO_CHAN_INFO_OFFSET: /* currently only temperature */ *val = st->variant->temp_offset; return IIO_VAL_INT; case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: adis_dev_auto_scoped_lock(&st->adis) { /* * Need both the number of taps and the sampling * frequency */ ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16); if (ret) return ret; ret = st->variant->get_freq(st); if (ret) return ret; } ret /= adis16400_3db_divisors[val16 & 0x07]; *val = ret / 1000; *val2 = (ret % 1000) * 1000; return IIO_VAL_INT_PLUS_MICRO; case IIO_CHAN_INFO_SAMP_FREQ: adis_dev_auto_scoped_lock(&st->adis) { ret = st->variant->get_freq(st); if (ret) return ret; } *val = ret / 1000; *val2 = (ret % 1000) * 1000; return IIO_VAL_INT_PLUS_MICRO; default: return -EINVAL; } } #if IS_ENABLED(CONFIG_IIO_BUFFER) static irqreturn_t adis16400_trigger_handler(int irq, void *p) { struct iio_poll_func *pf = p; struct iio_dev *indio_dev = pf->indio_dev; struct adis16400_state *st = iio_priv(indio_dev); struct adis *adis = &st->adis; void *buffer; int ret; ret = spi_sync(adis->spi, &adis->msg); if (ret) dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret); if (st->variant->flags & ADIS16400_BURST_DIAG_STAT) { buffer = adis->buffer + sizeof(u16); /* * The size here is always larger than, or equal to the true * size of the channel data. This may result in a larger copy * than necessary, but as the target buffer will be * buffer->scan_bytes this will be safe. */ iio_push_to_buffers_with_ts_unaligned(indio_dev, buffer, indio_dev->scan_bytes - sizeof(pf->timestamp), pf->timestamp); } else { iio_push_to_buffers_with_timestamp(indio_dev, adis->buffer, pf->timestamp); } iio_trigger_notify_done(indio_dev->trig); return IRQ_HANDLED; } #else #define adis16400_trigger_handler NULL #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */ #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \ .type = IIO_VOLTAGE, \ .indexed = 1, \ .channel = chn, \ .extend_name = name, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_SCALE), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = (addr), \ .scan_index = (si), \ .scan_type = { \ .sign = 'u', \ .realbits = (bits), \ .storagebits = 16, \ .shift = 0, \ .endianness = IIO_BE, \ }, \ } #define ADIS16400_SUPPLY_CHAN(addr, bits) \ ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0) #define ADIS16400_AUX_ADC_CHAN(addr, bits) \ ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1) #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \ .type = IIO_ANGL_VEL, \ .modified = 1, \ .channel2 = IIO_MOD_ ## mod, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_CALIBBIAS), \ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = addr, \ .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \ .scan_type = { \ .sign = 's', \ .realbits = (bits), \ .storagebits = 16, \ .shift = 0, \ .endianness = IIO_BE, \ }, \ } #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \ .type = IIO_ACCEL, \ .modified = 1, \ .channel2 = IIO_MOD_ ## mod, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_CALIBBIAS), \ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = (addr), \ .scan_index = ADIS16400_SCAN_ACC_ ## mod, \ .scan_type = { \ .sign = 's', \ .realbits = (bits), \ .storagebits = 16, \ .shift = 0, \ .endianness = IIO_BE, \ }, \ } #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \ .type = IIO_MAGN, \ .modified = 1, \ .channel2 = IIO_MOD_ ## mod, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = (addr), \ .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \ .scan_type = { \ .sign = 's', \ .realbits = (bits), \ .storagebits = 16, \ .shift = 0, \ .endianness = IIO_BE, \ }, \ } #define ADIS16400_MOD_TEMP_NAME_X "x" #define ADIS16400_MOD_TEMP_NAME_Y "y" #define ADIS16400_MOD_TEMP_NAME_Z "z" #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \ .type = IIO_TEMP, \ .indexed = 1, \ .channel = 0, \ .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_OFFSET) | \ BIT(IIO_CHAN_INFO_SCALE), \ .info_mask_shared_by_type = \ BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = (addr), \ .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \ .scan_type = { \ .sign = 's', \ .realbits = (bits), \ .storagebits = 16, \ .shift = 0, \ .endianness = IIO_BE, \ }, \ } #define ADIS16400_TEMP_CHAN(addr, bits) { \ .type = IIO_TEMP, \ .indexed = 1, \ .channel = 0, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ BIT(IIO_CHAN_INFO_OFFSET) | \ BIT(IIO_CHAN_INFO_SCALE), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = (addr), \ .scan_index = ADIS16350_SCAN_TEMP_X, \ .scan_type = { \ .sign = 's', \ .realbits = (bits), \ .storagebits = 16, \ .shift = 0, \ .endianness = IIO_BE, \ }, \ } #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \ .type = IIO_INCLI, \ .modified = 1, \ .channel2 = IIO_MOD_ ## mod, \ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ .address = (addr), \ .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \ .scan_type = { \ .sign = 's', \ .realbits = (bits), \ .storagebits = 16, \ .shift = 0, \ .endianness = IIO_BE, \ }, \ } static const struct iio_chan_spec adis16400_channels[] = { ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14), ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12), ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12), IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), }; static const struct iio_chan_spec adis16445_channels[] = { ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), }; static const struct iio_chan_spec adis16448_channels[] = { ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16), ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16), ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16), ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16), ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16), ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16), ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16), ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16), ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16), { .type = IIO_PRESSURE, .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), .address = ADIS16448_BARO_OUT, .scan_index = ADIS16400_SCAN_BARO, .scan_type = { .sign = 's', .realbits = 16, .storagebits = 16, .endianness = IIO_BE, }, }, ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12), IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), }; static const struct iio_chan_spec adis16350_channels[] = { ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14), ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14), ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14), ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12), ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12), ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12), IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), }; static const struct iio_chan_spec adis16300_channels[] = { ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12), ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12), ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13), ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13), IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), }; static const struct iio_chan_spec adis16334_channels[] = { ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14), ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14), ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14), ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14), ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14), ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14), ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12), IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP), }; static 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", }; #define ADIS16400_DATA(_timeouts, _burst_len) \ { \ .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, \ .self_test_reg = ADIS16400_MSC_CTRL, \ .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), \ .timeouts = (_timeouts), \ .burst_reg_cmd = ADIS16400_GLOB_CMD, \ .burst_len = (_burst_len), \ .burst_max_speed_hz = ADIS16400_SPI_BURST \ } static const struct adis_timeout adis16300_timeouts = { .reset_ms = ADIS16400_STARTUP_DELAY, .sw_reset_ms = ADIS16400_STARTUP_DELAY, .self_test_ms = ADIS16400_STARTUP_DELAY, }; static const struct adis_timeout adis16334_timeouts = { .reset_ms = 60, .sw_reset_ms = 60, .self_test_ms = 14, }; static const struct adis_timeout adis16362_timeouts = { .reset_ms = 130, .sw_reset_ms = 130, .self_test_ms = 12, }; static const struct adis_timeout adis16400_timeouts = { .reset_ms = 170, .sw_reset_ms = 170, .self_test_ms = 12, }; static const struct adis_timeout adis16445_timeouts = { .reset_ms = 55, .sw_reset_ms = 55, .self_test_ms = 16, }; static const struct adis_timeout adis16448_timeouts = { .reset_ms = 90, .sw_reset_ms = 90, .self_test_ms = 45, }; static struct adis16400_chip_info adis16400_chips[] = { [ADIS16300] = { .channels = adis16300_channels, .num_channels = ARRAY_SIZE(adis16300_channels), .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | ADIS16400_HAS_SERIAL_NUMBER, .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ .accel_scale_micro = 5884, .temp_scale_nano = 140000000, /* 0.14 C */ .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */ .set_freq = adis16400_set_freq, .get_freq = adis16400_get_freq, .adis_data = ADIS16400_DATA(&adis16300_timeouts, 18), }, [ADIS16334] = { .channels = adis16334_channels, .num_channels = ARRAY_SIZE(adis16334_channels), .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST | ADIS16400_HAS_SERIAL_NUMBER, .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ .temp_scale_nano = 67850000, /* 0.06785 C */ .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */ .set_freq = adis16334_set_freq, .get_freq = adis16334_get_freq, .adis_data = ADIS16400_DATA(&adis16334_timeouts, 0), }, [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, .adis_data = ADIS16400_DATA(&adis16300_timeouts, 0), }, [ADIS16360] = { .channels = adis16350_channels, .num_channels = ARRAY_SIZE(adis16350_channels), .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | ADIS16400_HAS_SERIAL_NUMBER, .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ .temp_scale_nano = 136000000, /* 0.136 C */ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ .set_freq = adis16400_set_freq, .get_freq = adis16400_get_freq, .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28), }, [ADIS16362] = { .channels = adis16350_channels, .num_channels = ARRAY_SIZE(adis16350_channels), .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | ADIS16400_HAS_SERIAL_NUMBER, .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */ .temp_scale_nano = 136000000, /* 0.136 C */ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ .set_freq = adis16400_set_freq, .get_freq = adis16400_get_freq, .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28), }, [ADIS16364] = { .channels = adis16350_channels, .num_channels = ARRAY_SIZE(adis16350_channels), .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | ADIS16400_HAS_SERIAL_NUMBER, .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */ .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */ .temp_scale_nano = 136000000, /* 0.136 C */ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ .set_freq = adis16400_set_freq, .get_freq = adis16400_get_freq, .adis_data = ADIS16400_DATA(&adis16362_timeouts, 28), }, [ADIS16367] = { .channels = adis16350_channels, .num_channels = ARRAY_SIZE(adis16350_channels), .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE | ADIS16400_HAS_SERIAL_NUMBER, .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */ .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */ .temp_scale_nano = 136000000, /* 0.136 C */ .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */ .set_freq = adis16400_set_freq, .get_freq = adis16400_get_freq, .adis_data = ADIS16400_DATA(&adis16300_timeouts, 28), }, [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, .adis_data = ADIS16400_DATA(&adis16400_timeouts, 24), }, [ADIS16445] = { .channels = adis16445_channels, .num_channels = ARRAY_SIZE(adis16445_channels), .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SERIAL_NUMBER | ADIS16400_BURST_DIAG_STAT, .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */ .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */ .temp_scale_nano = 73860000, /* 0.07386 C */ .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ .set_freq = adis16334_set_freq, .get_freq = adis16334_get_freq, .adis_data = ADIS16400_DATA(&adis16445_timeouts, 16), }, [ADIS16448] = { .channels = adis16448_channels, .num_channels = ARRAY_SIZE(adis16448_channels), .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SERIAL_NUMBER | ADIS16400_BURST_DIAG_STAT, .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */ .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */ .temp_scale_nano = 73860000, /* 0.07386 C */ .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */ .set_freq = adis16334_set_freq, .get_freq = adis16334_get_freq, .adis_data = ADIS16400_DATA(&adis16448_timeouts, 24), } }; static const struct iio_info adis16400_info = { .read_raw = &adis16400_read_raw, .write_raw = &adis16400_write_raw, .update_scan_mode = adis_update_scan_mode, .debugfs_reg_access = adis_debugfs_reg_access, }; static void adis16400_setup_chan_mask(struct adis16400_state *st) { const struct adis16400_chip_info *chip_info = st->variant; unsigned int i; for (i = 0; i < chip_info->num_channels; i++) { const struct iio_chan_spec *ch = &chip_info->channels[i]; if (ch->scan_index >= 0 && ch->scan_index != ADIS16400_SCAN_TIMESTAMP) st->avail_scan_mask[0] |= BIT(ch->scan_index); } } static void adis16400_stop(void *data) { adis16400_stop_device(data); } static int adis16400_probe(struct spi_device *spi) { struct adis16400_state *st; struct iio_dev *indio_dev; int ret; const struct adis_data *adis16400_data; indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); if (indio_dev == NULL) return -ENOMEM; st = iio_priv(indio_dev); /* setup the industrialio driver allocated elements */ st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data]; indio_dev->name = spi_get_device_id(spi)->name; indio_dev->channels = st->variant->channels; indio_dev->num_channels = st->variant->num_channels; indio_dev->info = &adis16400_info; indio_dev->modes = INDIO_DIRECT_MODE; if (!(st->variant->flags & ADIS16400_NO_BURST)) { adis16400_setup_chan_mask(st); indio_dev->available_scan_masks = st->avail_scan_mask; } adis16400_data = &st->variant->adis_data; ret = adis_init(&st->adis, indio_dev, spi, adis16400_data); if (ret) return ret; ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, adis16400_trigger_handler); if (ret) return ret; /* Get the device into a sane initial state */ ret = adis16400_initial_setup(indio_dev); if (ret) return ret; ret = devm_add_action_or_reset(&spi->dev, adis16400_stop, indio_dev); if (ret) return ret; ret = devm_iio_device_register(&spi->dev, indio_dev); if (ret) return ret; adis16400_debugfs_init(indio_dev); return 0; } static const struct spi_device_id adis16400_id[] = { {"adis16300", ADIS16300}, {"adis16305", ADIS16300}, {"adis16334", ADIS16334}, {"adis16350", ADIS16350}, {"adis16354", ADIS16350}, {"adis16355", ADIS16350}, {"adis16360", ADIS16360}, {"adis16362", ADIS16362}, {"adis16364", ADIS16364}, {"adis16365", ADIS16360}, {"adis16367", ADIS16367}, {"adis16400", ADIS16400}, {"adis16405", ADIS16400}, {"adis16445", ADIS16445}, {"adis16448", ADIS16448}, {} }; MODULE_DEVICE_TABLE(spi, adis16400_id); static struct spi_driver adis16400_driver = { .driver = { .name = "adis16400", }, .id_table = adis16400_id, .probe = adis16400_probe, }; module_spi_driver(adis16400_driver); MODULE_AUTHOR("Manuel Stahl "); MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver"); MODULE_LICENSE("GPL v2"); MODULE_IMPORT_NS(IIO_ADISLIB);