883 lines
25 KiB
C
883 lines
25 KiB
C
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/*
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* ADIS16480 and similar IMUs driver
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*
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* Copyright 2012 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/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/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 <linux/iio/imu/adis.h>
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#include <linux/debugfs.h>
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#define ADIS16480_PAGE_SIZE 0x80
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#define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg))
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#define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */
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#define ADIS16480_REG_SEQ_CNT ADIS16480_REG(0x00, 0x06)
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#define ADIS16480_REG_SYS_E_FLA ADIS16480_REG(0x00, 0x08)
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#define ADIS16480_REG_DIAG_STS ADIS16480_REG(0x00, 0x0A)
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#define ADIS16480_REG_ALM_STS ADIS16480_REG(0x00, 0x0C)
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#define ADIS16480_REG_TEMP_OUT ADIS16480_REG(0x00, 0x0E)
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#define ADIS16480_REG_X_GYRO_OUT ADIS16480_REG(0x00, 0x10)
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#define ADIS16480_REG_Y_GYRO_OUT ADIS16480_REG(0x00, 0x14)
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#define ADIS16480_REG_Z_GYRO_OUT ADIS16480_REG(0x00, 0x18)
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#define ADIS16480_REG_X_ACCEL_OUT ADIS16480_REG(0x00, 0x1C)
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#define ADIS16480_REG_Y_ACCEL_OUT ADIS16480_REG(0x00, 0x20)
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#define ADIS16480_REG_Z_ACCEL_OUT ADIS16480_REG(0x00, 0x24)
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#define ADIS16480_REG_X_MAGN_OUT ADIS16480_REG(0x00, 0x28)
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#define ADIS16480_REG_Y_MAGN_OUT ADIS16480_REG(0x00, 0x2A)
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#define ADIS16480_REG_Z_MAGN_OUT ADIS16480_REG(0x00, 0x2C)
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#define ADIS16480_REG_BAROM_OUT ADIS16480_REG(0x00, 0x2E)
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#define ADIS16480_REG_X_DELTAANG_OUT ADIS16480_REG(0x00, 0x40)
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#define ADIS16480_REG_Y_DELTAANG_OUT ADIS16480_REG(0x00, 0x44)
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#define ADIS16480_REG_Z_DELTAANG_OUT ADIS16480_REG(0x00, 0x48)
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#define ADIS16480_REG_X_DELTAVEL_OUT ADIS16480_REG(0x00, 0x4C)
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#define ADIS16480_REG_Y_DELTAVEL_OUT ADIS16480_REG(0x00, 0x50)
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#define ADIS16480_REG_Z_DELTAVEL_OUT ADIS16480_REG(0x00, 0x54)
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#define ADIS16480_REG_PROD_ID ADIS16480_REG(0x00, 0x7E)
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#define ADIS16480_REG_X_GYRO_SCALE ADIS16480_REG(0x02, 0x04)
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#define ADIS16480_REG_Y_GYRO_SCALE ADIS16480_REG(0x02, 0x06)
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#define ADIS16480_REG_Z_GYRO_SCALE ADIS16480_REG(0x02, 0x08)
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#define ADIS16480_REG_X_ACCEL_SCALE ADIS16480_REG(0x02, 0x0A)
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#define ADIS16480_REG_Y_ACCEL_SCALE ADIS16480_REG(0x02, 0x0C)
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#define ADIS16480_REG_Z_ACCEL_SCALE ADIS16480_REG(0x02, 0x0E)
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#define ADIS16480_REG_X_GYRO_BIAS ADIS16480_REG(0x02, 0x10)
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#define ADIS16480_REG_Y_GYRO_BIAS ADIS16480_REG(0x02, 0x14)
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#define ADIS16480_REG_Z_GYRO_BIAS ADIS16480_REG(0x02, 0x18)
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#define ADIS16480_REG_X_ACCEL_BIAS ADIS16480_REG(0x02, 0x1C)
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#define ADIS16480_REG_Y_ACCEL_BIAS ADIS16480_REG(0x02, 0x20)
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#define ADIS16480_REG_Z_ACCEL_BIAS ADIS16480_REG(0x02, 0x24)
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#define ADIS16480_REG_X_HARD_IRON ADIS16480_REG(0x02, 0x28)
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#define ADIS16480_REG_Y_HARD_IRON ADIS16480_REG(0x02, 0x2A)
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#define ADIS16480_REG_Z_HARD_IRON ADIS16480_REG(0x02, 0x2C)
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#define ADIS16480_REG_BAROM_BIAS ADIS16480_REG(0x02, 0x40)
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#define ADIS16480_REG_FLASH_CNT ADIS16480_REG(0x02, 0x7C)
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#define ADIS16480_REG_GLOB_CMD ADIS16480_REG(0x03, 0x02)
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#define ADIS16480_REG_FNCTIO_CTRL ADIS16480_REG(0x03, 0x06)
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#define ADIS16480_REG_GPIO_CTRL ADIS16480_REG(0x03, 0x08)
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#define ADIS16480_REG_CONFIG ADIS16480_REG(0x03, 0x0A)
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#define ADIS16480_REG_DEC_RATE ADIS16480_REG(0x03, 0x0C)
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#define ADIS16480_REG_SLP_CNT ADIS16480_REG(0x03, 0x10)
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#define ADIS16480_REG_FILTER_BNK0 ADIS16480_REG(0x03, 0x16)
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#define ADIS16480_REG_FILTER_BNK1 ADIS16480_REG(0x03, 0x18)
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#define ADIS16480_REG_ALM_CNFG0 ADIS16480_REG(0x03, 0x20)
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#define ADIS16480_REG_ALM_CNFG1 ADIS16480_REG(0x03, 0x22)
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#define ADIS16480_REG_ALM_CNFG2 ADIS16480_REG(0x03, 0x24)
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#define ADIS16480_REG_XG_ALM_MAGN ADIS16480_REG(0x03, 0x28)
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#define ADIS16480_REG_YG_ALM_MAGN ADIS16480_REG(0x03, 0x2A)
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#define ADIS16480_REG_ZG_ALM_MAGN ADIS16480_REG(0x03, 0x2C)
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#define ADIS16480_REG_XA_ALM_MAGN ADIS16480_REG(0x03, 0x2E)
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#define ADIS16480_REG_YA_ALM_MAGN ADIS16480_REG(0x03, 0x30)
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#define ADIS16480_REG_ZA_ALM_MAGN ADIS16480_REG(0x03, 0x32)
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#define ADIS16480_REG_XM_ALM_MAGN ADIS16480_REG(0x03, 0x34)
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#define ADIS16480_REG_YM_ALM_MAGN ADIS16480_REG(0x03, 0x36)
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#define ADIS16480_REG_ZM_ALM_MAGN ADIS16480_REG(0x03, 0x38)
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#define ADIS16480_REG_BR_ALM_MAGN ADIS16480_REG(0x03, 0x3A)
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#define ADIS16480_REG_FIRM_REV ADIS16480_REG(0x03, 0x78)
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#define ADIS16480_REG_FIRM_DM ADIS16480_REG(0x03, 0x7A)
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#define ADIS16480_REG_FIRM_Y ADIS16480_REG(0x03, 0x7C)
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#define ADIS16480_REG_SERIAL_NUM ADIS16480_REG(0x04, 0x20)
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/* Each filter coefficent bank spans two pages */
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#define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \
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ADIS16480_REG((page) + 1, (x) - 60 + 8))
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#define ADIS16480_FIR_COEF_A(x) ADIS16480_FIR_COEF(0x05, (x))
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#define ADIS16480_FIR_COEF_B(x) ADIS16480_FIR_COEF(0x07, (x))
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#define ADIS16480_FIR_COEF_C(x) ADIS16480_FIR_COEF(0x09, (x))
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#define ADIS16480_FIR_COEF_D(x) ADIS16480_FIR_COEF(0x0B, (x))
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struct adis16480_chip_info {
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unsigned int num_channels;
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const struct iio_chan_spec *channels;
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};
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struct adis16480 {
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const struct adis16480_chip_info *chip_info;
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struct adis adis;
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};
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#ifdef CONFIG_DEBUG_FS
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static ssize_t adis16480_show_firmware_revision(struct file *file,
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char __user *userbuf, size_t count, loff_t *ppos)
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{
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struct adis16480 *adis16480 = file->private_data;
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char buf[7];
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size_t len;
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u16 rev;
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int ret;
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ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
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if (ret < 0)
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return ret;
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len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);
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return simple_read_from_buffer(userbuf, count, ppos, buf, len);
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}
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static const struct file_operations adis16480_firmware_revision_fops = {
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.open = simple_open,
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.read = adis16480_show_firmware_revision,
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.llseek = default_llseek,
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.owner = THIS_MODULE,
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};
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static ssize_t adis16480_show_firmware_date(struct file *file,
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char __user *userbuf, size_t count, loff_t *ppos)
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{
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struct adis16480 *adis16480 = file->private_data;
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u16 md, year;
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char buf[12];
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size_t len;
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int ret;
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ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
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if (ret < 0)
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return ret;
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ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
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if (ret < 0)
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return ret;
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len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n",
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md >> 8, md & 0xff, year);
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return simple_read_from_buffer(userbuf, count, ppos, buf, len);
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}
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static const struct file_operations adis16480_firmware_date_fops = {
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.open = simple_open,
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.read = adis16480_show_firmware_date,
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.llseek = default_llseek,
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.owner = THIS_MODULE,
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};
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static int adis16480_show_serial_number(void *arg, u64 *val)
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{
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struct adis16480 *adis16480 = arg;
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u16 serial;
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int ret;
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ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
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&serial);
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if (ret < 0)
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return ret;
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*val = serial;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops,
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adis16480_show_serial_number, NULL, "0x%.4llx\n");
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static int adis16480_show_product_id(void *arg, u64 *val)
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{
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struct adis16480 *adis16480 = arg;
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u16 prod_id;
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int ret;
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ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID,
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&prod_id);
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if (ret < 0)
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return ret;
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*val = prod_id;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16480_product_id_fops,
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adis16480_show_product_id, NULL, "%llu\n");
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static int adis16480_show_flash_count(void *arg, u64 *val)
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{
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struct adis16480 *adis16480 = arg;
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u32 flash_count;
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int ret;
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ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT,
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&flash_count);
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if (ret < 0)
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return ret;
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*val = flash_count;
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return 0;
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}
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DEFINE_SIMPLE_ATTRIBUTE(adis16480_flash_count_fops,
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adis16480_show_flash_count, NULL, "%lld\n");
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static int adis16480_debugfs_init(struct iio_dev *indio_dev)
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{
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struct adis16480 *adis16480 = iio_priv(indio_dev);
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debugfs_create_file("firmware_revision", 0400,
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indio_dev->debugfs_dentry, adis16480,
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&adis16480_firmware_revision_fops);
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debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry,
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adis16480, &adis16480_firmware_date_fops);
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debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
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adis16480, &adis16480_serial_number_fops);
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debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
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adis16480, &adis16480_product_id_fops);
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debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
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adis16480, &adis16480_flash_count_fops);
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return 0;
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}
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#else
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static int adis16480_debugfs_init(struct iio_dev *indio_dev)
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{
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return 0;
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}
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#endif
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static int adis16480_set_freq(struct iio_dev *indio_dev, int val, int val2)
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{
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struct adis16480 *st = iio_priv(indio_dev);
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unsigned int t;
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t = val * 1000 + val2 / 1000;
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if (t <= 0)
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return -EINVAL;
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t = 2460000 / t;
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if (t > 2048)
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t = 2048;
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if (t != 0)
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t--;
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return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
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}
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static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
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{
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struct adis16480 *st = iio_priv(indio_dev);
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uint16_t t;
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int ret;
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unsigned freq;
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ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
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if (ret < 0)
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return ret;
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freq = 2460000 / (t + 1);
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*val = freq / 1000;
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*val2 = (freq % 1000) * 1000;
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return IIO_VAL_INT_PLUS_MICRO;
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}
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enum {
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ADIS16480_SCAN_GYRO_X,
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ADIS16480_SCAN_GYRO_Y,
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ADIS16480_SCAN_GYRO_Z,
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ADIS16480_SCAN_ACCEL_X,
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||
|
|
ADIS16480_SCAN_ACCEL_Y,
|
||
|
|
ADIS16480_SCAN_ACCEL_Z,
|
||
|
|
ADIS16480_SCAN_MAGN_X,
|
||
|
|
ADIS16480_SCAN_MAGN_Y,
|
||
|
|
ADIS16480_SCAN_MAGN_Z,
|
||
|
|
ADIS16480_SCAN_BARO,
|
||
|
|
ADIS16480_SCAN_TEMP,
|
||
|
|
};
|
||
|
|
|
||
|
|
static const unsigned int adis16480_calibbias_regs[] = {
|
||
|
|
[ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
|
||
|
|
[ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
|
||
|
|
[ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
|
||
|
|
[ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
|
||
|
|
[ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
|
||
|
|
[ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
|
||
|
|
[ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
|
||
|
|
[ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
|
||
|
|
[ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
|
||
|
|
[ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
|
||
|
|
};
|
||
|
|
|
||
|
|
static const unsigned int adis16480_calibscale_regs[] = {
|
||
|
|
[ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
|
||
|
|
[ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
|
||
|
|
[ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
|
||
|
|
[ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
|
||
|
|
[ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
|
||
|
|
[ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
|
||
|
|
};
|
||
|
|
|
||
|
|
static int adis16480_set_calibbias(struct iio_dev *indio_dev,
|
||
|
|
const struct iio_chan_spec *chan, int bias)
|
||
|
|
{
|
||
|
|
unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
|
||
|
|
switch (chan->type) {
|
||
|
|
case IIO_MAGN:
|
||
|
|
case IIO_PRESSURE:
|
||
|
|
if (bias < -0x8000 || bias >= 0x8000)
|
||
|
|
return -EINVAL;
|
||
|
|
return adis_write_reg_16(&st->adis, reg, bias);
|
||
|
|
case IIO_ANGL_VEL:
|
||
|
|
case IIO_ACCEL:
|
||
|
|
return adis_write_reg_32(&st->adis, reg, bias);
|
||
|
|
default:
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
return -EINVAL;
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_get_calibbias(struct iio_dev *indio_dev,
|
||
|
|
const struct iio_chan_spec *chan, int *bias)
|
||
|
|
{
|
||
|
|
unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
uint16_t val16;
|
||
|
|
uint32_t val32;
|
||
|
|
int ret;
|
||
|
|
|
||
|
|
switch (chan->type) {
|
||
|
|
case IIO_MAGN:
|
||
|
|
case IIO_PRESSURE:
|
||
|
|
ret = adis_read_reg_16(&st->adis, reg, &val16);
|
||
|
|
*bias = sign_extend32(val16, 15);
|
||
|
|
break;
|
||
|
|
case IIO_ANGL_VEL:
|
||
|
|
case IIO_ACCEL:
|
||
|
|
ret = adis_read_reg_32(&st->adis, reg, &val32);
|
||
|
|
*bias = sign_extend32(val32, 31);
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
ret = -EINVAL;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (ret < 0)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
return IIO_VAL_INT;
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_set_calibscale(struct iio_dev *indio_dev,
|
||
|
|
const struct iio_chan_spec *chan, int scale)
|
||
|
|
{
|
||
|
|
unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
|
||
|
|
if (scale < -0x8000 || scale >= 0x8000)
|
||
|
|
return -EINVAL;
|
||
|
|
|
||
|
|
return adis_write_reg_16(&st->adis, reg, scale);
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_get_calibscale(struct iio_dev *indio_dev,
|
||
|
|
const struct iio_chan_spec *chan, int *scale)
|
||
|
|
{
|
||
|
|
unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
uint16_t val16;
|
||
|
|
int ret;
|
||
|
|
|
||
|
|
ret = adis_read_reg_16(&st->adis, reg, &val16);
|
||
|
|
if (ret < 0)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
*scale = sign_extend32(val16, 15);
|
||
|
|
return IIO_VAL_INT;
|
||
|
|
}
|
||
|
|
|
||
|
|
static const unsigned int adis16480_def_filter_freqs[] = {
|
||
|
|
310,
|
||
|
|
55,
|
||
|
|
275,
|
||
|
|
63,
|
||
|
|
};
|
||
|
|
|
||
|
|
static const unsigned int ad16480_filter_data[][2] = {
|
||
|
|
[ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 },
|
||
|
|
[ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 },
|
||
|
|
[ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 },
|
||
|
|
[ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 },
|
||
|
|
[ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 },
|
||
|
|
[ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 },
|
||
|
|
[ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 },
|
||
|
|
[ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 },
|
||
|
|
[ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 },
|
||
|
|
};
|
||
|
|
|
||
|
|
static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
|
||
|
|
const struct iio_chan_spec *chan, int *freq)
|
||
|
|
{
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
unsigned int enable_mask, offset, reg;
|
||
|
|
uint16_t val;
|
||
|
|
int ret;
|
||
|
|
|
||
|
|
reg = ad16480_filter_data[chan->scan_index][0];
|
||
|
|
offset = ad16480_filter_data[chan->scan_index][1];
|
||
|
|
enable_mask = BIT(offset + 2);
|
||
|
|
|
||
|
|
ret = adis_read_reg_16(&st->adis, reg, &val);
|
||
|
|
if (ret < 0)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
if (!(val & enable_mask))
|
||
|
|
*freq = 0;
|
||
|
|
else
|
||
|
|
*freq = adis16480_def_filter_freqs[(val >> offset) & 0x3];
|
||
|
|
|
||
|
|
return IIO_VAL_INT;
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
|
||
|
|
const struct iio_chan_spec *chan, unsigned int freq)
|
||
|
|
{
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
unsigned int enable_mask, offset, reg;
|
||
|
|
unsigned int diff, best_diff;
|
||
|
|
unsigned int i, best_freq;
|
||
|
|
uint16_t val;
|
||
|
|
int ret;
|
||
|
|
|
||
|
|
reg = ad16480_filter_data[chan->scan_index][0];
|
||
|
|
offset = ad16480_filter_data[chan->scan_index][1];
|
||
|
|
enable_mask = BIT(offset + 2);
|
||
|
|
|
||
|
|
ret = adis_read_reg_16(&st->adis, reg, &val);
|
||
|
|
if (ret < 0)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
if (freq == 0) {
|
||
|
|
val &= ~enable_mask;
|
||
|
|
} else {
|
||
|
|
best_freq = 0;
|
||
|
|
best_diff = 310;
|
||
|
|
for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
|
||
|
|
if (adis16480_def_filter_freqs[i] >= freq) {
|
||
|
|
diff = adis16480_def_filter_freqs[i] - freq;
|
||
|
|
if (diff < best_diff) {
|
||
|
|
best_diff = diff;
|
||
|
|
best_freq = i;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
val &= ~(0x3 << offset);
|
||
|
|
val |= best_freq << offset;
|
||
|
|
val |= enable_mask;
|
||
|
|
}
|
||
|
|
|
||
|
|
return adis_write_reg_16(&st->adis, reg, val);
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_read_raw(struct iio_dev *indio_dev,
|
||
|
|
const struct iio_chan_spec *chan, int *val, int *val2, long info)
|
||
|
|
{
|
||
|
|
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 = IIO_DEGREE_TO_RAD(20000); /* 0.02 degree/sec */
|
||
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
||
|
|
case IIO_ACCEL:
|
||
|
|
*val = 0;
|
||
|
|
*val2 = IIO_G_TO_M_S_2(800); /* 0.8 mg */
|
||
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
||
|
|
case IIO_MAGN:
|
||
|
|
*val = 0;
|
||
|
|
*val2 = 100; /* 0.0001 gauss */
|
||
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
||
|
|
case IIO_TEMP:
|
||
|
|
*val = 5;
|
||
|
|
*val2 = 650000; /* 5.65 milli degree Celsius */
|
||
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
||
|
|
case IIO_PRESSURE:
|
||
|
|
*val = 0;
|
||
|
|
*val2 = 4000; /* 40ubar = 0.004 kPa */
|
||
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
||
|
|
default:
|
||
|
|
return -EINVAL;
|
||
|
|
}
|
||
|
|
case IIO_CHAN_INFO_OFFSET:
|
||
|
|
/* Only the temperature channel has a offset */
|
||
|
|
*val = 4425; /* 25 degree Celsius = 0x0000 */
|
||
|
|
return IIO_VAL_INT;
|
||
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
||
|
|
return adis16480_get_calibbias(indio_dev, chan, val);
|
||
|
|
case IIO_CHAN_INFO_CALIBSCALE:
|
||
|
|
return adis16480_get_calibscale(indio_dev, chan, val);
|
||
|
|
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
|
||
|
|
return adis16480_get_filter_freq(indio_dev, chan, val);
|
||
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
||
|
|
return adis16480_get_freq(indio_dev, val, val2);
|
||
|
|
default:
|
||
|
|
return -EINVAL;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_write_raw(struct iio_dev *indio_dev,
|
||
|
|
const struct iio_chan_spec *chan, int val, int val2, long info)
|
||
|
|
{
|
||
|
|
switch (info) {
|
||
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
||
|
|
return adis16480_set_calibbias(indio_dev, chan, val);
|
||
|
|
case IIO_CHAN_INFO_CALIBSCALE:
|
||
|
|
return adis16480_set_calibscale(indio_dev, chan, val);
|
||
|
|
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
|
||
|
|
return adis16480_set_filter_freq(indio_dev, chan, val);
|
||
|
|
case IIO_CHAN_INFO_SAMP_FREQ:
|
||
|
|
return adis16480_set_freq(indio_dev, val, val2);
|
||
|
|
|
||
|
|
default:
|
||
|
|
return -EINVAL;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \
|
||
|
|
{ \
|
||
|
|
.type = (_type), \
|
||
|
|
.modified = 1, \
|
||
|
|
.channel2 = (_mod), \
|
||
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
||
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS) | \
|
||
|
|
_info_sep, \
|
||
|
|
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
|
||
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
||
|
|
.address = (_address), \
|
||
|
|
.scan_index = (_si), \
|
||
|
|
.scan_type = { \
|
||
|
|
.sign = 's', \
|
||
|
|
.realbits = (_bits), \
|
||
|
|
.storagebits = (_bits), \
|
||
|
|
.endianness = IIO_BE, \
|
||
|
|
}, \
|
||
|
|
}
|
||
|
|
|
||
|
|
#define ADIS16480_GYRO_CHANNEL(_mod) \
|
||
|
|
ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
|
||
|
|
ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \
|
||
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
|
||
|
|
BIT(IIO_CHAN_INFO_CALIBSCALE), \
|
||
|
|
32)
|
||
|
|
|
||
|
|
#define ADIS16480_ACCEL_CHANNEL(_mod) \
|
||
|
|
ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
|
||
|
|
ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
|
||
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
|
||
|
|
BIT(IIO_CHAN_INFO_CALIBSCALE), \
|
||
|
|
32)
|
||
|
|
|
||
|
|
#define ADIS16480_MAGN_CHANNEL(_mod) \
|
||
|
|
ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
|
||
|
|
ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
|
||
|
|
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
|
||
|
|
16)
|
||
|
|
|
||
|
|
#define ADIS16480_PRESSURE_CHANNEL() \
|
||
|
|
{ \
|
||
|
|
.type = IIO_PRESSURE, \
|
||
|
|
.indexed = 1, \
|
||
|
|
.channel = 0, \
|
||
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
||
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS) | \
|
||
|
|
BIT(IIO_CHAN_INFO_SCALE), \
|
||
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
||
|
|
.address = ADIS16480_REG_BAROM_OUT, \
|
||
|
|
.scan_index = ADIS16480_SCAN_BARO, \
|
||
|
|
.scan_type = { \
|
||
|
|
.sign = 's', \
|
||
|
|
.realbits = 32, \
|
||
|
|
.storagebits = 32, \
|
||
|
|
.endianness = IIO_BE, \
|
||
|
|
}, \
|
||
|
|
}
|
||
|
|
|
||
|
|
#define ADIS16480_TEMP_CHANNEL() { \
|
||
|
|
.type = IIO_TEMP, \
|
||
|
|
.indexed = 1, \
|
||
|
|
.channel = 0, \
|
||
|
|
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
|
||
|
|
BIT(IIO_CHAN_INFO_SCALE) | \
|
||
|
|
BIT(IIO_CHAN_INFO_OFFSET), \
|
||
|
|
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
|
||
|
|
.address = ADIS16480_REG_TEMP_OUT, \
|
||
|
|
.scan_index = ADIS16480_SCAN_TEMP, \
|
||
|
|
.scan_type = { \
|
||
|
|
.sign = 's', \
|
||
|
|
.realbits = 16, \
|
||
|
|
.storagebits = 16, \
|
||
|
|
.endianness = IIO_BE, \
|
||
|
|
}, \
|
||
|
|
}
|
||
|
|
|
||
|
|
static const struct iio_chan_spec adis16480_channels[] = {
|
||
|
|
ADIS16480_GYRO_CHANNEL(X),
|
||
|
|
ADIS16480_GYRO_CHANNEL(Y),
|
||
|
|
ADIS16480_GYRO_CHANNEL(Z),
|
||
|
|
ADIS16480_ACCEL_CHANNEL(X),
|
||
|
|
ADIS16480_ACCEL_CHANNEL(Y),
|
||
|
|
ADIS16480_ACCEL_CHANNEL(Z),
|
||
|
|
ADIS16480_MAGN_CHANNEL(X),
|
||
|
|
ADIS16480_MAGN_CHANNEL(Y),
|
||
|
|
ADIS16480_MAGN_CHANNEL(Z),
|
||
|
|
ADIS16480_PRESSURE_CHANNEL(),
|
||
|
|
ADIS16480_TEMP_CHANNEL(),
|
||
|
|
IIO_CHAN_SOFT_TIMESTAMP(11)
|
||
|
|
};
|
||
|
|
|
||
|
|
static const struct iio_chan_spec adis16485_channels[] = {
|
||
|
|
ADIS16480_GYRO_CHANNEL(X),
|
||
|
|
ADIS16480_GYRO_CHANNEL(Y),
|
||
|
|
ADIS16480_GYRO_CHANNEL(Z),
|
||
|
|
ADIS16480_ACCEL_CHANNEL(X),
|
||
|
|
ADIS16480_ACCEL_CHANNEL(Y),
|
||
|
|
ADIS16480_ACCEL_CHANNEL(Z),
|
||
|
|
ADIS16480_TEMP_CHANNEL(),
|
||
|
|
IIO_CHAN_SOFT_TIMESTAMP(7)
|
||
|
|
};
|
||
|
|
|
||
|
|
enum adis16480_variant {
|
||
|
|
ADIS16375,
|
||
|
|
ADIS16480,
|
||
|
|
ADIS16485,
|
||
|
|
ADIS16488,
|
||
|
|
};
|
||
|
|
|
||
|
|
static const struct adis16480_chip_info adis16480_chip_info[] = {
|
||
|
|
[ADIS16375] = {
|
||
|
|
.channels = adis16485_channels,
|
||
|
|
.num_channels = ARRAY_SIZE(adis16485_channels),
|
||
|
|
},
|
||
|
|
[ADIS16480] = {
|
||
|
|
.channels = adis16480_channels,
|
||
|
|
.num_channels = ARRAY_SIZE(adis16480_channels),
|
||
|
|
},
|
||
|
|
[ADIS16485] = {
|
||
|
|
.channels = adis16485_channels,
|
||
|
|
.num_channels = ARRAY_SIZE(adis16485_channels),
|
||
|
|
},
|
||
|
|
[ADIS16488] = {
|
||
|
|
.channels = adis16480_channels,
|
||
|
|
.num_channels = ARRAY_SIZE(adis16480_channels),
|
||
|
|
},
|
||
|
|
};
|
||
|
|
|
||
|
|
static const struct iio_info adis16480_info = {
|
||
|
|
.read_raw = &adis16480_read_raw,
|
||
|
|
.write_raw = &adis16480_write_raw,
|
||
|
|
.update_scan_mode = adis_update_scan_mode,
|
||
|
|
.driver_module = THIS_MODULE,
|
||
|
|
};
|
||
|
|
|
||
|
|
static int adis16480_stop_device(struct iio_dev *indio_dev)
|
||
|
|
{
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
int ret;
|
||
|
|
|
||
|
|
ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
|
||
|
|
if (ret)
|
||
|
|
dev_err(&indio_dev->dev,
|
||
|
|
"Could not power down device: %d\n", ret);
|
||
|
|
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_enable_irq(struct adis *adis, bool enable)
|
||
|
|
{
|
||
|
|
return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL,
|
||
|
|
enable ? BIT(3) : 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_initial_setup(struct iio_dev *indio_dev)
|
||
|
|
{
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
uint16_t prod_id;
|
||
|
|
unsigned int device_id;
|
||
|
|
int ret;
|
||
|
|
|
||
|
|
adis_reset(&st->adis);
|
||
|
|
msleep(70);
|
||
|
|
|
||
|
|
ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1));
|
||
|
|
if (ret)
|
||
|
|
return ret;
|
||
|
|
msleep(30);
|
||
|
|
|
||
|
|
ret = adis_check_status(&st->adis);
|
||
|
|
if (ret)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id);
|
||
|
|
if (ret)
|
||
|
|
return 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);
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
|
||
|
|
#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
|
||
|
|
#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
|
||
|
|
#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
|
||
|
|
#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
|
||
|
|
#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
|
||
|
|
#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
|
||
|
|
#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
|
||
|
|
#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
|
||
|
|
#define ADIS16480_DIAG_STAT_BARO_FAIL 11
|
||
|
|
|
||
|
|
static const char * const adis16480_status_error_msgs[] = {
|
||
|
|
[ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
|
||
|
|
[ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
|
||
|
|
};
|
||
|
|
|
||
|
|
static const struct adis_data adis16480_data = {
|
||
|
|
.diag_stat_reg = ADIS16480_REG_DIAG_STS,
|
||
|
|
.glob_cmd_reg = ADIS16480_REG_GLOB_CMD,
|
||
|
|
.has_paging = true,
|
||
|
|
|
||
|
|
.read_delay = 5,
|
||
|
|
.write_delay = 5,
|
||
|
|
|
||
|
|
.status_error_msgs = adis16480_status_error_msgs,
|
||
|
|
.status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |
|
||
|
|
BIT(ADIS16480_DIAG_STAT_BARO_FAIL),
|
||
|
|
|
||
|
|
.enable_irq = adis16480_enable_irq,
|
||
|
|
};
|
||
|
|
|
||
|
|
static int adis16480_probe(struct spi_device *spi)
|
||
|
|
{
|
||
|
|
const struct spi_device_id *id = spi_get_device_id(spi);
|
||
|
|
struct iio_dev *indio_dev;
|
||
|
|
struct adis16480 *st;
|
||
|
|
int ret;
|
||
|
|
|
||
|
|
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
|
||
|
|
if (indio_dev == NULL)
|
||
|
|
return -ENOMEM;
|
||
|
|
|
||
|
|
spi_set_drvdata(spi, indio_dev);
|
||
|
|
|
||
|
|
st = iio_priv(indio_dev);
|
||
|
|
|
||
|
|
st->chip_info = &adis16480_chip_info[id->driver_data];
|
||
|
|
indio_dev->dev.parent = &spi->dev;
|
||
|
|
indio_dev->name = spi_get_device_id(spi)->name;
|
||
|
|
indio_dev->channels = st->chip_info->channels;
|
||
|
|
indio_dev->num_channels = st->chip_info->num_channels;
|
||
|
|
indio_dev->info = &adis16480_info;
|
||
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
||
|
|
|
||
|
|
ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data);
|
||
|
|
if (ret)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
|
||
|
|
if (ret)
|
||
|
|
return ret;
|
||
|
|
|
||
|
|
ret = adis16480_initial_setup(indio_dev);
|
||
|
|
if (ret)
|
||
|
|
goto error_cleanup_buffer;
|
||
|
|
|
||
|
|
ret = iio_device_register(indio_dev);
|
||
|
|
if (ret)
|
||
|
|
goto error_stop_device;
|
||
|
|
|
||
|
|
adis16480_debugfs_init(indio_dev);
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
|
||
|
|
error_stop_device:
|
||
|
|
adis16480_stop_device(indio_dev);
|
||
|
|
error_cleanup_buffer:
|
||
|
|
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
||
|
|
return ret;
|
||
|
|
}
|
||
|
|
|
||
|
|
static int adis16480_remove(struct spi_device *spi)
|
||
|
|
{
|
||
|
|
struct iio_dev *indio_dev = spi_get_drvdata(spi);
|
||
|
|
struct adis16480 *st = iio_priv(indio_dev);
|
||
|
|
|
||
|
|
iio_device_unregister(indio_dev);
|
||
|
|
adis16480_stop_device(indio_dev);
|
||
|
|
|
||
|
|
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
static const struct spi_device_id adis16480_ids[] = {
|
||
|
|
{ "adis16375", ADIS16375 },
|
||
|
|
{ "adis16480", ADIS16480 },
|
||
|
|
{ "adis16485", ADIS16485 },
|
||
|
|
{ "adis16488", ADIS16488 },
|
||
|
|
{ }
|
||
|
|
};
|
||
|
|
MODULE_DEVICE_TABLE(spi, adis16480_ids);
|
||
|
|
|
||
|
|
static struct spi_driver adis16480_driver = {
|
||
|
|
.driver = {
|
||
|
|
.name = "adis16480",
|
||
|
|
.owner = THIS_MODULE,
|
||
|
|
},
|
||
|
|
.id_table = adis16480_ids,
|
||
|
|
.probe = adis16480_probe,
|
||
|
|
.remove = adis16480_remove,
|
||
|
|
};
|
||
|
|
module_spi_driver(adis16480_driver);
|
||
|
|
|
||
|
|
MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
|
||
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
|
||
|
|
MODULE_LICENSE("GPL v2");
|