forked from Minki/linux
afc3a57a2e
Smatch complains that snprintf() returns the number of characters, not counting the NUL terminator, which *would* have been printed if there were enough space. In other words the return value could be more than sizeof(buf). In this case, we are printing something like "ff.ff\n" which is at most 6 characters and a NUL so that's not an issue. I changed snprintf() to scnprintf() to silence the warning. But since the buffer doesn't include space for the NUL terminator, we need to make it bigger or the "\n" will be truncated off. Signed-off-by: Dan Carpenter <dan.carpenter@oracle.com> Acked-By: Lars-Peter Clausen <lars@metafoo.de> Signed-off-by: Jonathan Cameron <jic23@kernel.org>
926 lines
26 KiB
C
926 lines
26 KiB
C
/*
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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/iio/iio.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 adis16480 *st, unsigned int freq)
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{
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unsigned int t;
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t = 2460000 / freq;
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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 adis16480 *st, unsigned int *freq)
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{
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uint16_t t;
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int ret;
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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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return 0;
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}
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static ssize_t adis16480_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_to_iio_dev(dev);
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struct adis16480 *st = iio_priv(indio_dev);
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unsigned int freq;
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int ret;
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ret = adis16480_get_freq(st, &freq);
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if (ret < 0)
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return ret;
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return sprintf(buf, "%d.%.3d\n", freq / 1000, freq % 1000);
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}
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static ssize_t adis16480_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_to_iio_dev(dev);
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struct adis16480 *st = iio_priv(indio_dev);
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int freq_int, freq_fract;
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long val;
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int ret;
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ret = iio_str_to_fixpoint(buf, 100, &freq_int, &freq_fract);
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if (ret)
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return ret;
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val = freq_int * 1000 + freq_fract;
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if (val <= 0)
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return -EINVAL;
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ret = adis16480_set_freq(st, val);
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return ret ? ret : len;
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}
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static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
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adis16480_read_frequency,
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adis16480_write_frequency);
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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,
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ADIS16480_SCAN_ACCEL_Z,
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ADIS16480_SCAN_MAGN_X,
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ADIS16480_SCAN_MAGN_Y,
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ADIS16480_SCAN_MAGN_Z,
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ADIS16480_SCAN_BARO,
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ADIS16480_SCAN_TEMP,
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};
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static const unsigned int adis16480_calibbias_regs[] = {
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[ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
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[ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
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[ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
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[ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
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[ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
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[ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
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[ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
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[ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
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[ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
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[ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
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};
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static const unsigned int adis16480_calibscale_regs[] = {
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[ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
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[ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
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[ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
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[ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
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[ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
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[ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
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};
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static int adis16480_set_calibbias(struct iio_dev *indio_dev,
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const struct iio_chan_spec *chan, int bias)
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{
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unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
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struct adis16480 *st = iio_priv(indio_dev);
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switch (chan->type) {
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case IIO_MAGN:
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case IIO_PRESSURE:
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if (bias < -0x8000 || bias >= 0x8000)
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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);
|
|
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);
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
}
|
|
|
|
#define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info, _bits) \
|
|
{ \
|
|
.type = (_type), \
|
|
.modified = 1, \
|
|
.channel2 = (_mod), \
|
|
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
|
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
|
|
IIO_CHAN_INFO_SCALE_SHARED_BIT | \
|
|
_info, \
|
|
.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, \
|
|
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT | \
|
|
IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, \
|
|
32)
|
|
|
|
#define ADIS16480_ACCEL_CHANNEL(_mod) \
|
|
ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
|
|
ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
|
|
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT | \
|
|
IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, \
|
|
32)
|
|
|
|
#define ADIS16480_MAGN_CHANNEL(_mod) \
|
|
ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
|
|
ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
|
|
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT, \
|
|
16)
|
|
|
|
#define ADIS16480_PRESSURE_CHANNEL() \
|
|
{ \
|
|
.type = IIO_PRESSURE, \
|
|
.indexed = 1, \
|
|
.channel = 0, \
|
|
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
|
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
|
|
IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
|
|
.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 = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
|
|
IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \
|
|
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT, \
|
|
.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 struct attribute *adis16480_attributes[] = {
|
|
&iio_dev_attr_sampling_frequency.dev_attr.attr,
|
|
NULL
|
|
};
|
|
|
|
static const struct attribute_group adis16480_attribute_group = {
|
|
.attrs = adis16480_attributes,
|
|
};
|
|
|
|
static const struct iio_info adis16480_info = {
|
|
.attrs = &adis16480_attribute_group,
|
|
.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 = iio_device_alloc(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)
|
|
goto error_free_dev;
|
|
|
|
ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
|
|
if (ret)
|
|
goto error_free_dev;
|
|
|
|
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);
|
|
error_free_dev:
|
|
iio_device_free(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);
|
|
|
|
iio_device_free(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");
|