1147 lines
29 KiB
C
1147 lines
29 KiB
C
/*
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* adis16400.c support Analog Devices ADIS16400/5
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* 3d 2g Linear Accelerometers,
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* 3d Gyroscopes,
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* 3d Magnetometers via SPI
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*
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* Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
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* Copyright (c) 2007 Jonathan Cameron <jic23@cam.ac.uk>
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* Copyright (c) 2011 Analog Devices Inc.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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*/
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#include <linux/interrupt.h>
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#include <linux/irq.h>
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#include <linux/delay.h>
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#include <linux/mutex.h>
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#include <linux/device.h>
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#include <linux/kernel.h>
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#include <linux/spi/spi.h>
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#include <linux/slab.h>
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#include <linux/sysfs.h>
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#include <linux/list.h>
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#include <linux/module.h>
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#include "../iio.h"
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#include "../sysfs.h"
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#include "../buffer_generic.h"
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#include "adis16400.h"
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enum adis16400_chip_variant {
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ADIS16300,
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ADIS16334,
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ADIS16350,
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ADIS16360,
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ADIS16362,
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ADIS16364,
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ADIS16365,
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ADIS16400,
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};
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/**
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* adis16400_spi_write_reg_8() - write single byte to a register
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @reg_address: the address of the register to be written
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* @val: the value to write
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*/
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static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
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u8 reg_address,
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u8 val)
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{
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int ret;
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struct adis16400_state *st = iio_priv(indio_dev);
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16400_WRITE_REG(reg_address);
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st->tx[1] = val;
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ret = spi_write(st->us, st->tx, 2);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
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* @dev: device associated with child of actual device (iio_dev or iio_trig)
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: value to be written
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*
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* At the moment the spi framework doesn't allow global setting of cs_change.
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* This means that use cannot be made of spi_write.
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*/
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static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
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u8 lower_reg_address,
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u16 value)
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{
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int ret;
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struct spi_message msg;
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struct adis16400_state *st = iio_priv(indio_dev);
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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}, {
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.tx_buf = st->tx + 2,
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.bits_per_word = 8,
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.len = 2,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
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st->tx[1] = value & 0xFF;
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st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
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st->tx[3] = (value >> 8) & 0xFF;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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/**
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* adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
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* @indio_dev: iio device
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* @reg_address: the address of the lower of the two registers. Second register
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* is assumed to have address one greater.
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* @val: somewhere to pass back the value read
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*
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* At the moment the spi framework doesn't allow global setting of cs_change.
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* This means that use cannot be made of spi_read.
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**/
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static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
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u8 lower_reg_address,
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u16 *val)
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{
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struct spi_message msg;
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struct adis16400_state *st = iio_priv(indio_dev);
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int ret;
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struct spi_transfer xfers[] = {
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{
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.tx_buf = st->tx,
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.bits_per_word = 8,
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.len = 2,
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.cs_change = 1,
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}, {
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.rx_buf = st->rx,
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.bits_per_word = 8,
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.len = 2,
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},
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};
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mutex_lock(&st->buf_lock);
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st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
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st->tx[1] = 0;
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spi_message_init(&msg);
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spi_message_add_tail(&xfers[0], &msg);
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spi_message_add_tail(&xfers[1], &msg);
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ret = spi_sync(st->us, &msg);
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if (ret) {
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dev_err(&st->us->dev,
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"problem when reading 16 bit register 0x%02X",
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lower_reg_address);
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goto error_ret;
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}
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*val = (st->rx[0] << 8) | st->rx[1];
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error_ret:
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mutex_unlock(&st->buf_lock);
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return ret;
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}
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static ssize_t adis16400_read_frequency(struct device *dev,
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struct device_attribute *attr,
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char *buf)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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int ret, len = 0;
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u16 t;
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int sps;
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ret = adis16400_spi_read_reg_16(indio_dev,
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ADIS16400_SMPL_PRD,
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&t);
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if (ret)
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return ret;
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sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
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sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
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len = sprintf(buf, "%d SPS\n", sps);
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return len;
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}
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static ssize_t adis16400_write_frequency(struct device *dev,
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struct device_attribute *attr,
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const char *buf,
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size_t len)
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{
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struct iio_dev *indio_dev = dev_get_drvdata(dev);
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struct adis16400_state *st = iio_priv(indio_dev);
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long val;
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int ret;
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u8 t;
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ret = strict_strtol(buf, 10, &val);
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if (ret)
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return ret;
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mutex_lock(&indio_dev->mlock);
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t = (1638 / val);
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if (t > 0)
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t--;
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t &= ADIS16400_SMPL_PRD_DIV_MASK;
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if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
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st->us->max_speed_hz = ADIS16400_SPI_SLOW;
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else
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st->us->max_speed_hz = ADIS16400_SPI_FAST;
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ret = adis16400_spi_write_reg_8(indio_dev,
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ADIS16400_SMPL_PRD,
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t);
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mutex_unlock(&indio_dev->mlock);
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return ret ? ret : len;
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}
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static int adis16400_reset(struct iio_dev *indio_dev)
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{
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int ret;
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ret = adis16400_spi_write_reg_8(indio_dev,
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ADIS16400_GLOB_CMD,
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ADIS16400_GLOB_CMD_SW_RESET);
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if (ret)
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dev_err(&indio_dev->dev, "problem resetting device");
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return ret;
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}
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static ssize_t adis16400_write_reset(struct device *dev,
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struct device_attribute *attr,
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const char *buf, size_t len)
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{
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bool val;
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int ret;
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ret = strtobool(buf, &val);
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if (ret < 0)
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return ret;
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if (val) {
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ret = adis16400_reset(dev_get_drvdata(dev));
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if (ret < 0)
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return ret;
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}
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return len;
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}
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int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
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{
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int ret;
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u16 msc;
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ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
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if (ret)
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goto error_ret;
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msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
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if (enable)
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msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
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else
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msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
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ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
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if (ret)
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goto error_ret;
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error_ret:
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return ret;
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}
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/* Power down the device */
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static int adis16400_stop_device(struct iio_dev *indio_dev)
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{
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int ret;
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u16 val = ADIS16400_SLP_CNT_POWER_OFF;
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ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
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if (ret)
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dev_err(&indio_dev->dev,
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"problem with turning device off: SLP_CNT");
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return ret;
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}
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static int adis16400_check_status(struct iio_dev *indio_dev)
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{
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u16 status;
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int ret;
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struct device *dev = &indio_dev->dev;
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ret = adis16400_spi_read_reg_16(indio_dev,
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ADIS16400_DIAG_STAT, &status);
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if (ret < 0) {
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dev_err(dev, "Reading status failed\n");
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goto error_ret;
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}
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ret = status;
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if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
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dev_err(dev, "Z-axis accelerometer self-test failure\n");
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if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
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dev_err(dev, "Y-axis accelerometer self-test failure\n");
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if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
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dev_err(dev, "X-axis accelerometer self-test failure\n");
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if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
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dev_err(dev, "X-axis gyroscope self-test failure\n");
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if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
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dev_err(dev, "Y-axis gyroscope self-test failure\n");
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if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
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dev_err(dev, "Z-axis gyroscope self-test failure\n");
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if (status & ADIS16400_DIAG_STAT_ALARM2)
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dev_err(dev, "Alarm 2 active\n");
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if (status & ADIS16400_DIAG_STAT_ALARM1)
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dev_err(dev, "Alarm 1 active\n");
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if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
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dev_err(dev, "Flash checksum error\n");
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if (status & ADIS16400_DIAG_STAT_SELF_TEST)
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dev_err(dev, "Self test error\n");
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if (status & ADIS16400_DIAG_STAT_OVERFLOW)
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dev_err(dev, "Sensor overrange\n");
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if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
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dev_err(dev, "SPI failure\n");
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if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
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dev_err(dev, "Flash update failed\n");
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if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
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dev_err(dev, "Power supply above 5.25V\n");
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if (status & ADIS16400_DIAG_STAT_POWER_LOW)
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dev_err(dev, "Power supply below 4.75V\n");
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error_ret:
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return ret;
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}
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static int adis16400_self_test(struct iio_dev *indio_dev)
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{
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int ret;
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ret = adis16400_spi_write_reg_16(indio_dev,
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ADIS16400_MSC_CTRL,
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ADIS16400_MSC_CTRL_MEM_TEST);
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if (ret) {
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dev_err(&indio_dev->dev, "problem starting self test");
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goto err_ret;
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}
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msleep(ADIS16400_MTEST_DELAY);
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adis16400_check_status(indio_dev);
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err_ret:
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return ret;
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}
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static int adis16400_initial_setup(struct iio_dev *indio_dev)
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{
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int ret;
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u16 prod_id, smp_prd;
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struct adis16400_state *st = iio_priv(indio_dev);
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/* use low spi speed for init */
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st->us->max_speed_hz = ADIS16400_SPI_SLOW;
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st->us->mode = SPI_MODE_3;
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spi_setup(st->us);
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ret = adis16400_set_irq(indio_dev, false);
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if (ret) {
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dev_err(&indio_dev->dev, "disable irq failed");
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goto err_ret;
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}
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ret = adis16400_self_test(indio_dev);
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if (ret) {
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dev_err(&indio_dev->dev, "self test failure");
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goto err_ret;
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}
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ret = adis16400_check_status(indio_dev);
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if (ret) {
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adis16400_reset(indio_dev);
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dev_err(&indio_dev->dev, "device not playing ball -> reset");
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msleep(ADIS16400_STARTUP_DELAY);
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ret = adis16400_check_status(indio_dev);
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if (ret) {
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dev_err(&indio_dev->dev, "giving up");
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goto err_ret;
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}
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}
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if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
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ret = adis16400_spi_read_reg_16(indio_dev,
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ADIS16400_PRODUCT_ID, &prod_id);
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if (ret)
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goto err_ret;
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if ((prod_id & 0xF000) != st->variant->product_id)
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dev_warn(&indio_dev->dev, "incorrect id");
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dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
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indio_dev->name, prod_id,
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st->us->chip_select, st->us->irq);
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}
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/* use high spi speed if possible */
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ret = adis16400_spi_read_reg_16(indio_dev,
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ADIS16400_SMPL_PRD, &smp_prd);
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if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
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st->us->max_speed_hz = ADIS16400_SPI_SLOW;
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spi_setup(st->us);
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}
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err_ret:
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return ret;
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}
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|
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static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
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adis16400_read_frequency,
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adis16400_write_frequency);
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static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
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|
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static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
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|
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enum adis16400_chan {
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in_supply,
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gyro_x,
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gyro_y,
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gyro_z,
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accel_x,
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accel_y,
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accel_z,
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magn_x,
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magn_y,
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magn_z,
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temp,
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temp0, temp1, temp2,
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in1,
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incli_x,
|
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incli_y,
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};
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|
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static u8 adis16400_addresses[17][2] = {
|
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[in_supply] = { ADIS16400_SUPPLY_OUT },
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[gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
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[gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
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[gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
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[accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
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[accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
|
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[accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
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[magn_x] = { ADIS16400_XMAGN_OUT },
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[magn_y] = { ADIS16400_YMAGN_OUT },
|
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[magn_z] = { ADIS16400_ZMAGN_OUT },
|
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[temp] = { ADIS16400_TEMP_OUT },
|
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[temp0] = { ADIS16350_XTEMP_OUT },
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[temp1] = { ADIS16350_YTEMP_OUT },
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[temp2] = { ADIS16350_ZTEMP_OUT },
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[in1] = { ADIS16400_AUX_ADC },
|
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[incli_x] = { ADIS16300_PITCH_OUT },
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[incli_y] = { ADIS16300_ROLL_OUT }
|
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};
|
|
|
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static int adis16400_write_raw(struct iio_dev *indio_dev,
|
|
struct iio_chan_spec const *chan,
|
|
int val,
|
|
int val2,
|
|
long mask)
|
|
{
|
|
int ret;
|
|
|
|
switch (mask) {
|
|
case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
|
|
mutex_lock(&indio_dev->mlock);
|
|
ret = adis16400_spi_write_reg_16(indio_dev,
|
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adis16400_addresses[chan->address][1],
|
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val);
|
|
mutex_unlock(&indio_dev->mlock);
|
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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 0:
|
|
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 (1 << IIO_CHAN_INFO_SCALE_SHARED):
|
|
case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
|
|
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)
|
|
*val2 = 2418;
|
|
else
|
|
*val2 = 806;
|
|
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;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_TEMP:
|
|
*val = 0;
|
|
*val2 = 140000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
|
|
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 (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
|
|
/* currently only temperature */
|
|
*val = 198;
|
|
*val2 = 160000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
}
|
|
|
|
static struct iio_chan_spec adis16400_channels[] = {
|
|
{
|
|
.type = IIO_VOLTAGE,
|
|
.indexed = 1,
|
|
.channel = 0,
|
|
.extend_name = "supply",
|
|
.info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.address = temp,
|
|
.scan_index = ADIS16400_SCAN_TEMP,
|
|
.scan_type = IIO_ST('s', 12, 16, 0),
|
|
}, {
|
|
.type = IIO_VOLTAGE,
|
|
.indexed = 1,
|
|
.channel = 1,
|
|
.info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.address = in1,
|
|
.scan_index = ADIS16400_SCAN_ADC_0,
|
|
.scan_type = IIO_ST('s', 12, 16, 0),
|
|
},
|
|
IIO_CHAN_SOFT_TIMESTAMP(12)
|
|
};
|
|
|
|
static struct iio_chan_spec adis16350_channels[] = {
|
|
{
|
|
.type = IIO_VOLTAGE,
|
|
.indexed = 1,
|
|
.channel = 0,
|
|
.extend_name = "supply",
|
|
.info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.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 = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.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 = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.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 = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.address = in1,
|
|
.scan_index = ADIS16350_SCAN_ADC_0,
|
|
.scan_type = IIO_ST('s', 12, 16, 0),
|
|
},
|
|
IIO_CHAN_SOFT_TIMESTAMP(11)
|
|
};
|
|
|
|
static struct iio_chan_spec adis16300_channels[] = {
|
|
{
|
|
.type = IIO_VOLTAGE,
|
|
.indexed = 1,
|
|
.channel = 0,
|
|
.extend_name = "supply",
|
|
.info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_OFFSET_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.address = temp,
|
|
.scan_index = ADIS16400_SCAN_TEMP,
|
|
.scan_type = IIO_ST('s', 12, 16, 0),
|
|
}, {
|
|
.type = IIO_VOLTAGE,
|
|
.indexed = 1,
|
|
.channel = 1,
|
|
.info_mask = (1 << IIO_CHAN_INFO_SCALE_SEPARATE),
|
|
.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 = (1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.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 = (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE) |
|
|
(1 << IIO_CHAN_INFO_SCALE_SHARED),
|
|
.address = accel_z,
|
|
.scan_index = ADIS16400_SCAN_ACC_Z,
|
|
.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,
|
|
&iio_dev_attr_reset.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),
|
|
.gyro_scale_micro = 873,
|
|
.accel_scale_micro = 5884,
|
|
.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),
|
|
},
|
|
[ADIS16334] = {
|
|
.channels = adis16334_channels,
|
|
.num_channels = ARRAY_SIZE(adis16334_channels),
|
|
.gyro_scale_micro = 873,
|
|
.accel_scale_micro = 981,
|
|
.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),
|
|
},
|
|
[ADIS16350] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.gyro_scale_micro = 872664,
|
|
.accel_scale_micro = 24732,
|
|
.default_scan_mask = 0x7FF,
|
|
.flags = ADIS16400_NO_BURST,
|
|
},
|
|
[ADIS16360] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID,
|
|
.product_id = 0x3FE8,
|
|
.gyro_scale_micro = 1279,
|
|
.accel_scale_micro = 24732,
|
|
.default_scan_mask = 0x7FF,
|
|
},
|
|
[ADIS16362] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID,
|
|
.product_id = 0x3FEA,
|
|
.gyro_scale_micro = 1279,
|
|
.accel_scale_micro = 24732,
|
|
.default_scan_mask = 0x7FF,
|
|
},
|
|
[ADIS16364] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID,
|
|
.product_id = 0x3FEC,
|
|
.gyro_scale_micro = 1279,
|
|
.accel_scale_micro = 24732,
|
|
.default_scan_mask = 0x7FF,
|
|
},
|
|
[ADIS16365] = {
|
|
.channels = adis16350_channels,
|
|
.num_channels = ARRAY_SIZE(adis16350_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID,
|
|
.product_id = 0x3FED,
|
|
.gyro_scale_micro = 1279,
|
|
.accel_scale_micro = 24732,
|
|
.default_scan_mask = 0x7FF,
|
|
},
|
|
[ADIS16400] = {
|
|
.channels = adis16400_channels,
|
|
.num_channels = ARRAY_SIZE(adis16400_channels),
|
|
.flags = ADIS16400_HAS_PROD_ID,
|
|
.product_id = 0x4015,
|
|
.gyro_scale_micro = 873,
|
|
.accel_scale_micro = 32656,
|
|
.default_scan_mask = 0xFFF,
|
|
}
|
|
};
|
|
|
|
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 __devinit adis16400_probe(struct spi_device *spi)
|
|
{
|
|
int ret;
|
|
struct adis16400_state *st;
|
|
struct iio_dev *indio_dev = iio_allocate_device(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 (indio_dev->modes & INDIO_BUFFER_TRIGGERED)
|
|
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_free_device(indio_dev);
|
|
error_ret:
|
|
return ret;
|
|
}
|
|
|
|
/* fixme, confirm ordering in this function */
|
|
static int adis16400_remove(struct spi_device *spi)
|
|
{
|
|
int ret;
|
|
struct iio_dev *indio_dev = spi_get_drvdata(spi);
|
|
|
|
iio_device_unregister(indio_dev);
|
|
ret = adis16400_stop_device(indio_dev);
|
|
if (ret)
|
|
goto err_ret;
|
|
|
|
adis16400_remove_trigger(indio_dev);
|
|
iio_buffer_unregister(indio_dev);
|
|
adis16400_unconfigure_ring(indio_dev);
|
|
iio_free_device(indio_dev);
|
|
|
|
return 0;
|
|
|
|
err_ret:
|
|
return ret;
|
|
}
|
|
|
|
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", ADIS16365},
|
|
{"adis16400", ADIS16400},
|
|
{"adis16405", ADIS16400},
|
|
{}
|
|
};
|
|
|
|
static struct spi_driver adis16400_driver = {
|
|
.driver = {
|
|
.name = "adis16400",
|
|
.owner = THIS_MODULE,
|
|
},
|
|
.id_table = adis16400_id,
|
|
.probe = adis16400_probe,
|
|
.remove = __devexit_p(adis16400_remove),
|
|
};
|
|
|
|
static __init int adis16400_init(void)
|
|
{
|
|
return spi_register_driver(&adis16400_driver);
|
|
}
|
|
module_init(adis16400_init);
|
|
|
|
static __exit void adis16400_exit(void)
|
|
{
|
|
spi_unregister_driver(&adis16400_driver);
|
|
}
|
|
module_exit(adis16400_exit);
|
|
|
|
MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
|
|
MODULE_LICENSE("GPL v2");
|