| // SPDX-License-Identifier: GPL-2.0 |
| /* |
| * ADIS16475 IMU driver |
| * |
| * Copyright 2019 Analog Devices Inc. |
| */ |
| #include <linux/bitfield.h> |
| #include <linux/bitops.h> |
| #include <linux/clk.h> |
| #include <linux/debugfs.h> |
| #include <linux/delay.h> |
| #include <linux/device.h> |
| #include <linux/kernel.h> |
| #include <linux/iio/buffer.h> |
| #include <linux/iio/iio.h> |
| #include <linux/iio/imu/adis.h> |
| #include <linux/iio/trigger_consumer.h> |
| #include <linux/irq.h> |
| #include <linux/lcm.h> |
| #include <linux/math.h> |
| #include <linux/module.h> |
| #include <linux/mod_devicetable.h> |
| #include <linux/property.h> |
| #include <linux/spi/spi.h> |
| |
| #define ADIS16475_REG_DIAG_STAT 0x02 |
| #define ADIS16475_REG_X_GYRO_L 0x04 |
| #define ADIS16475_REG_Y_GYRO_L 0x08 |
| #define ADIS16475_REG_Z_GYRO_L 0x0C |
| #define ADIS16475_REG_X_ACCEL_L 0x10 |
| #define ADIS16475_REG_Y_ACCEL_L 0x14 |
| #define ADIS16475_REG_Z_ACCEL_L 0x18 |
| #define ADIS16475_REG_TEMP_OUT 0x1c |
| #define ADIS16475_REG_X_GYRO_BIAS_L 0x40 |
| #define ADIS16475_REG_Y_GYRO_BIAS_L 0x44 |
| #define ADIS16475_REG_Z_GYRO_BIAS_L 0x48 |
| #define ADIS16475_REG_X_ACCEL_BIAS_L 0x4c |
| #define ADIS16475_REG_Y_ACCEL_BIAS_L 0x50 |
| #define ADIS16475_REG_Z_ACCEL_BIAS_L 0x54 |
| #define ADIS16475_REG_FILT_CTRL 0x5c |
| #define ADIS16475_FILT_CTRL_MASK GENMASK(2, 0) |
| #define ADIS16475_FILT_CTRL(x) FIELD_PREP(ADIS16475_FILT_CTRL_MASK, x) |
| #define ADIS16475_REG_MSG_CTRL 0x60 |
| #define ADIS16475_MSG_CTRL_DR_POL_MASK BIT(0) |
| #define ADIS16475_MSG_CTRL_DR_POL(x) \ |
| FIELD_PREP(ADIS16475_MSG_CTRL_DR_POL_MASK, x) |
| #define ADIS16475_SYNC_MODE_MASK GENMASK(4, 2) |
| #define ADIS16475_SYNC_MODE(x) FIELD_PREP(ADIS16475_SYNC_MODE_MASK, x) |
| #define ADIS16475_REG_UP_SCALE 0x62 |
| #define ADIS16475_REG_DEC_RATE 0x64 |
| #define ADIS16475_REG_GLOB_CMD 0x68 |
| #define ADIS16475_REG_FIRM_REV 0x6c |
| #define ADIS16475_REG_FIRM_DM 0x6e |
| #define ADIS16475_REG_FIRM_Y 0x70 |
| #define ADIS16475_REG_PROD_ID 0x72 |
| #define ADIS16475_REG_SERIAL_NUM 0x74 |
| #define ADIS16475_REG_FLASH_CNT 0x7c |
| #define ADIS16500_BURST32_MASK BIT(9) |
| #define ADIS16500_BURST32(x) FIELD_PREP(ADIS16500_BURST32_MASK, x) |
| /* number of data elements in burst mode */ |
| #define ADIS16475_BURST32_MAX_DATA 32 |
| #define ADIS16475_BURST_MAX_DATA 20 |
| #define ADIS16475_MAX_SCAN_DATA 20 |
| /* spi max speed in brust mode */ |
| #define ADIS16475_BURST_MAX_SPEED 1000000 |
| #define ADIS16475_LSB_DEC_MASK BIT(0) |
| #define ADIS16475_LSB_FIR_MASK BIT(1) |
| |
| enum { |
| ADIS16475_SYNC_DIRECT = 1, |
| ADIS16475_SYNC_SCALED, |
| ADIS16475_SYNC_OUTPUT, |
| ADIS16475_SYNC_PULSE = 5, |
| }; |
| |
| struct adis16475_sync { |
| u16 sync_mode; |
| u16 min_rate; |
| u16 max_rate; |
| }; |
| |
| struct adis16475_chip_info { |
| const struct iio_chan_spec *channels; |
| const struct adis16475_sync *sync; |
| const struct adis_data adis_data; |
| const char *name; |
| u32 num_channels; |
| u32 gyro_max_val; |
| u32 gyro_max_scale; |
| u32 accel_max_val; |
| u32 accel_max_scale; |
| u32 temp_scale; |
| u32 int_clk; |
| u16 max_dec; |
| u8 num_sync; |
| bool has_burst32; |
| }; |
| |
| struct adis16475 { |
| const struct adis16475_chip_info *info; |
| struct adis adis; |
| u32 clk_freq; |
| bool burst32; |
| unsigned long lsb_flag; |
| u16 sync_mode; |
| /* Alignment needed for the timestamp */ |
| __be16 data[ADIS16475_MAX_SCAN_DATA] __aligned(8); |
| }; |
| |
| enum { |
| ADIS16475_SCAN_GYRO_X, |
| ADIS16475_SCAN_GYRO_Y, |
| ADIS16475_SCAN_GYRO_Z, |
| ADIS16475_SCAN_ACCEL_X, |
| ADIS16475_SCAN_ACCEL_Y, |
| ADIS16475_SCAN_ACCEL_Z, |
| ADIS16475_SCAN_TEMP, |
| ADIS16475_SCAN_DIAG_S_FLAGS, |
| ADIS16475_SCAN_CRC_FAILURE, |
| }; |
| |
| static bool low_rate_allow; |
| module_param(low_rate_allow, bool, 0444); |
| MODULE_PARM_DESC(low_rate_allow, |
| "Allow IMU rates below the minimum advisable when external clk is used in SCALED mode (default: N)"); |
| |
| #ifdef CONFIG_DEBUG_FS |
| static ssize_t adis16475_show_firmware_revision(struct file *file, |
| char __user *userbuf, |
| size_t count, loff_t *ppos) |
| { |
| struct adis16475 *st = file->private_data; |
| char buf[7]; |
| size_t len; |
| u16 rev; |
| int ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_REV, &rev); |
| if (ret) |
| return ret; |
| |
| len = scnprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff); |
| |
| return simple_read_from_buffer(userbuf, count, ppos, buf, len); |
| } |
| |
| static const struct file_operations adis16475_firmware_revision_fops = { |
| .open = simple_open, |
| .read = adis16475_show_firmware_revision, |
| .llseek = default_llseek, |
| .owner = THIS_MODULE, |
| }; |
| |
| static ssize_t adis16475_show_firmware_date(struct file *file, |
| char __user *userbuf, |
| size_t count, loff_t *ppos) |
| { |
| struct adis16475 *st = file->private_data; |
| u16 md, year; |
| char buf[12]; |
| size_t len; |
| int ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_Y, &year); |
| if (ret) |
| return ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_DM, &md); |
| if (ret) |
| return ret; |
| |
| len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n", md >> 8, md & 0xff, |
| year); |
| |
| return simple_read_from_buffer(userbuf, count, ppos, buf, len); |
| } |
| |
| static const struct file_operations adis16475_firmware_date_fops = { |
| .open = simple_open, |
| .read = adis16475_show_firmware_date, |
| .llseek = default_llseek, |
| .owner = THIS_MODULE, |
| }; |
| |
| static int adis16475_show_serial_number(void *arg, u64 *val) |
| { |
| struct adis16475 *st = arg; |
| u16 serial; |
| int ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16475_REG_SERIAL_NUM, &serial); |
| if (ret) |
| return ret; |
| |
| *val = serial; |
| |
| return 0; |
| } |
| DEFINE_DEBUGFS_ATTRIBUTE(adis16475_serial_number_fops, |
| adis16475_show_serial_number, NULL, "0x%.4llx\n"); |
| |
| static int adis16475_show_product_id(void *arg, u64 *val) |
| { |
| struct adis16475 *st = arg; |
| u16 prod_id; |
| int ret; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16475_REG_PROD_ID, &prod_id); |
| if (ret) |
| return ret; |
| |
| *val = prod_id; |
| |
| return 0; |
| } |
| DEFINE_DEBUGFS_ATTRIBUTE(adis16475_product_id_fops, |
| adis16475_show_product_id, NULL, "%llu\n"); |
| |
| static int adis16475_show_flash_count(void *arg, u64 *val) |
| { |
| struct adis16475 *st = arg; |
| u32 flash_count; |
| int ret; |
| |
| ret = adis_read_reg_32(&st->adis, ADIS16475_REG_FLASH_CNT, |
| &flash_count); |
| if (ret) |
| return ret; |
| |
| *val = flash_count; |
| |
| return 0; |
| } |
| DEFINE_DEBUGFS_ATTRIBUTE(adis16475_flash_count_fops, |
| adis16475_show_flash_count, NULL, "%lld\n"); |
| |
| static void adis16475_debugfs_init(struct iio_dev *indio_dev) |
| { |
| struct adis16475 *st = iio_priv(indio_dev); |
| struct dentry *d = iio_get_debugfs_dentry(indio_dev); |
| |
| debugfs_create_file_unsafe("serial_number", 0400, |
| d, st, &adis16475_serial_number_fops); |
| debugfs_create_file_unsafe("product_id", 0400, |
| d, st, &adis16475_product_id_fops); |
| debugfs_create_file_unsafe("flash_count", 0400, |
| d, st, &adis16475_flash_count_fops); |
| debugfs_create_file("firmware_revision", 0400, |
| d, st, &adis16475_firmware_revision_fops); |
| debugfs_create_file("firmware_date", 0400, d, |
| st, &adis16475_firmware_date_fops); |
| } |
| #else |
| static void adis16475_debugfs_init(struct iio_dev *indio_dev) |
| { |
| } |
| #endif |
| |
| static int adis16475_get_freq(struct adis16475 *st, u32 *freq) |
| { |
| int ret; |
| u16 dec; |
| u32 sample_rate = st->clk_freq; |
| |
| adis_dev_lock(&st->adis); |
| |
| if (st->sync_mode == ADIS16475_SYNC_SCALED) { |
| u16 sync_scale; |
| |
| ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, &sync_scale); |
| if (ret) |
| goto error; |
| |
| sample_rate = st->clk_freq * sync_scale; |
| } |
| |
| ret = __adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec); |
| if (ret) |
| goto error; |
| |
| adis_dev_unlock(&st->adis); |
| |
| *freq = DIV_ROUND_CLOSEST(sample_rate, dec + 1); |
| |
| return 0; |
| error: |
| adis_dev_unlock(&st->adis); |
| return ret; |
| } |
| |
| static int adis16475_set_freq(struct adis16475 *st, const u32 freq) |
| { |
| u16 dec; |
| int ret; |
| u32 sample_rate = st->clk_freq; |
| |
| if (!freq) |
| return -EINVAL; |
| |
| adis_dev_lock(&st->adis); |
| /* |
| * When using sync scaled mode, the input clock needs to be scaled so that we have |
| * an IMU sample rate between (optimally) 1900 and 2100. After this, we can use the |
| * decimation filter to lower the sampling rate in order to get what the user wants. |
| * Optimally, the user sample rate is a multiple of both the IMU sample rate and |
| * the input clock. Hence, calculating the sync_scale dynamically gives us better |
| * chances of achieving a perfect/integer value for DEC_RATE. The math here is: |
| * 1. lcm of the input clock and the desired output rate. |
| * 2. get the highest multiple of the previous result lower than the adis max rate. |
| * 3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE |
| * and DEC_RATE (to get the user output rate) |
| */ |
| if (st->sync_mode == ADIS16475_SYNC_SCALED) { |
| unsigned long scaled_rate = lcm(st->clk_freq, freq); |
| int sync_scale; |
| |
| /* |
| * If lcm is bigger than the IMU maximum sampling rate there's no perfect |
| * solution. In this case, we get the highest multiple of the input clock |
| * lower than the IMU max sample rate. |
| */ |
| if (scaled_rate > 2100000) |
| scaled_rate = 2100000 / st->clk_freq * st->clk_freq; |
| else |
| scaled_rate = 2100000 / scaled_rate * scaled_rate; |
| |
| /* |
| * This is not an hard requirement but it's not advised to run the IMU |
| * with a sample rate lower than 4000Hz due to possible undersampling |
| * issues. However, there are users that might really want to take the risk. |
| * Hence, we provide a module parameter for them. If set, we allow sample |
| * rates lower than 4KHz. By default, we won't allow this and we just roundup |
| * the rate to the next multiple of the input clock bigger than 4KHz. This |
| * is done like this as in some cases (when DEC_RATE is 0) might give |
| * us the closest value to the one desired by the user... |
| */ |
| if (scaled_rate < 1900000 && !low_rate_allow) |
| scaled_rate = roundup(1900000, st->clk_freq); |
| |
| sync_scale = scaled_rate / st->clk_freq; |
| ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_UP_SCALE, sync_scale); |
| if (ret) |
| goto error; |
| |
| sample_rate = scaled_rate; |
| } |
| |
| dec = DIV_ROUND_CLOSEST(sample_rate, freq); |
| |
| if (dec) |
| dec--; |
| |
| if (dec > st->info->max_dec) |
| dec = st->info->max_dec; |
| |
| ret = __adis_write_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, dec); |
| if (ret) |
| goto error; |
| |
| adis_dev_unlock(&st->adis); |
| /* |
| * If decimation is used, then gyro and accel data will have meaningful |
| * bits on the LSB registers. This info is used on the trigger handler. |
| */ |
| assign_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag, dec); |
| |
| return 0; |
| error: |
| adis_dev_unlock(&st->adis); |
| return ret; |
| } |
| |
| /* The values are approximated. */ |
| static const u32 adis16475_3db_freqs[] = { |
| [0] = 720, /* Filter disabled, full BW (~720Hz) */ |
| [1] = 360, |
| [2] = 164, |
| [3] = 80, |
| [4] = 40, |
| [5] = 20, |
| [6] = 10, |
| }; |
| |
| static int adis16475_get_filter(struct adis16475 *st, u32 *filter) |
| { |
| u16 filter_sz; |
| int ret; |
| const int mask = ADIS16475_FILT_CTRL_MASK; |
| |
| ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, &filter_sz); |
| if (ret) |
| return ret; |
| |
| *filter = adis16475_3db_freqs[filter_sz & mask]; |
| |
| return 0; |
| } |
| |
| static int adis16475_set_filter(struct adis16475 *st, const u32 filter) |
| { |
| int i = ARRAY_SIZE(adis16475_3db_freqs); |
| int ret; |
| |
| while (--i) { |
| if (adis16475_3db_freqs[i] >= filter) |
| break; |
| } |
| |
| ret = adis_write_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, |
| ADIS16475_FILT_CTRL(i)); |
| if (ret) |
| return ret; |
| |
| /* |
| * If FIR is used, then gyro and accel data will have meaningful |
| * bits on the LSB registers. This info is used on the trigger handler. |
| */ |
| assign_bit(ADIS16475_LSB_FIR_MASK, &st->lsb_flag, i); |
| |
| return 0; |
| } |
| |
| static const u32 adis16475_calib_regs[] = { |
| [ADIS16475_SCAN_GYRO_X] = ADIS16475_REG_X_GYRO_BIAS_L, |
| [ADIS16475_SCAN_GYRO_Y] = ADIS16475_REG_Y_GYRO_BIAS_L, |
| [ADIS16475_SCAN_GYRO_Z] = ADIS16475_REG_Z_GYRO_BIAS_L, |
| [ADIS16475_SCAN_ACCEL_X] = ADIS16475_REG_X_ACCEL_BIAS_L, |
| [ADIS16475_SCAN_ACCEL_Y] = ADIS16475_REG_Y_ACCEL_BIAS_L, |
| [ADIS16475_SCAN_ACCEL_Z] = ADIS16475_REG_Z_ACCEL_BIAS_L, |
| }; |
| |
| static int adis16475_read_raw(struct iio_dev *indio_dev, |
| const struct iio_chan_spec *chan, |
| int *val, int *val2, long info) |
| { |
| struct adis16475 *st = iio_priv(indio_dev); |
| int ret; |
| u32 tmp; |
| |
| 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 = st->info->gyro_max_val; |
| *val2 = st->info->gyro_max_scale; |
| return IIO_VAL_FRACTIONAL; |
| case IIO_ACCEL: |
| *val = st->info->accel_max_val; |
| *val2 = st->info->accel_max_scale; |
| return IIO_VAL_FRACTIONAL; |
| case IIO_TEMP: |
| *val = st->info->temp_scale; |
| return IIO_VAL_INT; |
| default: |
| return -EINVAL; |
| } |
| case IIO_CHAN_INFO_CALIBBIAS: |
| ret = adis_read_reg_32(&st->adis, |
| adis16475_calib_regs[chan->scan_index], |
| val); |
| if (ret) |
| return ret; |
| |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
| ret = adis16475_get_filter(st, val); |
| if (ret) |
| return ret; |
| |
| return IIO_VAL_INT; |
| case IIO_CHAN_INFO_SAMP_FREQ: |
| ret = adis16475_get_freq(st, &tmp); |
| if (ret) |
| return ret; |
| |
| *val = tmp / 1000; |
| *val2 = (tmp % 1000) * 1000; |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| } |
| |
| static int adis16475_write_raw(struct iio_dev *indio_dev, |
| const struct iio_chan_spec *chan, |
| int val, int val2, long info) |
| { |
| struct adis16475 *st = iio_priv(indio_dev); |
| u32 tmp; |
| |
| switch (info) { |
| case IIO_CHAN_INFO_SAMP_FREQ: |
| tmp = val * 1000 + val2 / 1000; |
| return adis16475_set_freq(st, tmp); |
| case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: |
| return adis16475_set_filter(st, val); |
| case IIO_CHAN_INFO_CALIBBIAS: |
| return adis_write_reg_32(&st->adis, |
| adis16475_calib_regs[chan->scan_index], |
| val); |
| default: |
| return -EINVAL; |
| } |
| } |
| |
| #define ADIS16475_MOD_CHAN(_type, _mod, _address, _si, _r_bits, _s_bits) \ |
| { \ |
| .type = (_type), \ |
| .modified = 1, \ |
| .channel2 = (_mod), \ |
| .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| BIT(IIO_CHAN_INFO_CALIBBIAS), \ |
| .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ |
| .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ |
| BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
| .address = (_address), \ |
| .scan_index = (_si), \ |
| .scan_type = { \ |
| .sign = 's', \ |
| .realbits = (_r_bits), \ |
| .storagebits = (_s_bits), \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| #define ADIS16475_GYRO_CHANNEL(_mod) \ |
| ADIS16475_MOD_CHAN(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ |
| ADIS16475_REG_ ## _mod ## _GYRO_L, \ |
| ADIS16475_SCAN_GYRO_ ## _mod, 32, 32) |
| |
| #define ADIS16475_ACCEL_CHANNEL(_mod) \ |
| ADIS16475_MOD_CHAN(IIO_ACCEL, IIO_MOD_ ## _mod, \ |
| ADIS16475_REG_ ## _mod ## _ACCEL_L, \ |
| ADIS16475_SCAN_ACCEL_ ## _mod, 32, 32) |
| |
| #define ADIS16475_TEMP_CHANNEL() { \ |
| .type = IIO_TEMP, \ |
| .indexed = 1, \ |
| .channel = 0, \ |
| .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ |
| BIT(IIO_CHAN_INFO_SCALE), \ |
| .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ |
| BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ |
| .address = ADIS16475_REG_TEMP_OUT, \ |
| .scan_index = ADIS16475_SCAN_TEMP, \ |
| .scan_type = { \ |
| .sign = 's', \ |
| .realbits = 16, \ |
| .storagebits = 16, \ |
| .endianness = IIO_BE, \ |
| }, \ |
| } |
| |
| static const struct iio_chan_spec adis16475_channels[] = { |
| ADIS16475_GYRO_CHANNEL(X), |
| ADIS16475_GYRO_CHANNEL(Y), |
| ADIS16475_GYRO_CHANNEL(Z), |
| ADIS16475_ACCEL_CHANNEL(X), |
| ADIS16475_ACCEL_CHANNEL(Y), |
| ADIS16475_ACCEL_CHANNEL(Z), |
| ADIS16475_TEMP_CHANNEL(), |
| IIO_CHAN_SOFT_TIMESTAMP(7) |
| }; |
| |
| enum adis16475_variant { |
| ADIS16470, |
| ADIS16475_1, |
| ADIS16475_2, |
| ADIS16475_3, |
| ADIS16477_1, |
| ADIS16477_2, |
| ADIS16477_3, |
| ADIS16465_1, |
| ADIS16465_2, |
| ADIS16465_3, |
| ADIS16467_1, |
| ADIS16467_2, |
| ADIS16467_3, |
| ADIS16500, |
| ADIS16505_1, |
| ADIS16505_2, |
| ADIS16505_3, |
| ADIS16507_1, |
| ADIS16507_2, |
| ADIS16507_3, |
| }; |
| |
| enum { |
| ADIS16475_DIAG_STAT_DATA_PATH = 1, |
| ADIS16475_DIAG_STAT_FLASH_MEM, |
| ADIS16475_DIAG_STAT_SPI, |
| ADIS16475_DIAG_STAT_STANDBY, |
| ADIS16475_DIAG_STAT_SENSOR, |
| ADIS16475_DIAG_STAT_MEMORY, |
| ADIS16475_DIAG_STAT_CLK, |
| }; |
| |
| static const char * const adis16475_status_error_msgs[] = { |
| [ADIS16475_DIAG_STAT_DATA_PATH] = "Data Path Overrun", |
| [ADIS16475_DIAG_STAT_FLASH_MEM] = "Flash memory update failure", |
| [ADIS16475_DIAG_STAT_SPI] = "SPI communication error", |
| [ADIS16475_DIAG_STAT_STANDBY] = "Standby mode", |
| [ADIS16475_DIAG_STAT_SENSOR] = "Sensor failure", |
| [ADIS16475_DIAG_STAT_MEMORY] = "Memory failure", |
| [ADIS16475_DIAG_STAT_CLK] = "Clock error", |
| }; |
| |
| static int adis16475_enable_irq(struct adis *adis, bool enable) |
| { |
| /* |
| * There is no way to gate the data-ready signal internally inside the |
| * ADIS16475. We can only control it's polarity... |
| */ |
| if (enable) |
| enable_irq(adis->spi->irq); |
| else |
| disable_irq(adis->spi->irq); |
| |
| return 0; |
| } |
| |
| #define ADIS16475_DATA(_prod_id, _timeouts) \ |
| { \ |
| .msc_ctrl_reg = ADIS16475_REG_MSG_CTRL, \ |
| .glob_cmd_reg = ADIS16475_REG_GLOB_CMD, \ |
| .diag_stat_reg = ADIS16475_REG_DIAG_STAT, \ |
| .prod_id_reg = ADIS16475_REG_PROD_ID, \ |
| .prod_id = (_prod_id), \ |
| .self_test_mask = BIT(2), \ |
| .self_test_reg = ADIS16475_REG_GLOB_CMD, \ |
| .cs_change_delay = 16, \ |
| .read_delay = 5, \ |
| .write_delay = 5, \ |
| .status_error_msgs = adis16475_status_error_msgs, \ |
| .status_error_mask = BIT(ADIS16475_DIAG_STAT_DATA_PATH) | \ |
| BIT(ADIS16475_DIAG_STAT_FLASH_MEM) | \ |
| BIT(ADIS16475_DIAG_STAT_SPI) | \ |
| BIT(ADIS16475_DIAG_STAT_STANDBY) | \ |
| BIT(ADIS16475_DIAG_STAT_SENSOR) | \ |
| BIT(ADIS16475_DIAG_STAT_MEMORY) | \ |
| BIT(ADIS16475_DIAG_STAT_CLK), \ |
| .enable_irq = adis16475_enable_irq, \ |
| .timeouts = (_timeouts), \ |
| .burst_reg_cmd = ADIS16475_REG_GLOB_CMD, \ |
| .burst_len = ADIS16475_BURST_MAX_DATA, \ |
| .burst_max_len = ADIS16475_BURST32_MAX_DATA, \ |
| .burst_max_speed_hz = ADIS16475_BURST_MAX_SPEED \ |
| } |
| |
| static const struct adis16475_sync adis16475_sync_mode[] = { |
| { ADIS16475_SYNC_OUTPUT }, |
| { ADIS16475_SYNC_DIRECT, 1900, 2100 }, |
| { ADIS16475_SYNC_SCALED, 1, 128 }, |
| { ADIS16475_SYNC_PULSE, 1000, 2100 }, |
| }; |
| |
| static const struct adis_timeout adis16475_timeouts = { |
| .reset_ms = 200, |
| .sw_reset_ms = 200, |
| .self_test_ms = 20, |
| }; |
| |
| static const struct adis_timeout adis1650x_timeouts = { |
| .reset_ms = 260, |
| .sw_reset_ms = 260, |
| .self_test_ms = 30, |
| }; |
| |
| static const struct adis16475_chip_info adis16475_chip_info[] = { |
| [ADIS16470] = { |
| .name = "adis16470", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16470, &adis16475_timeouts), |
| }, |
| [ADIS16475_1] = { |
| .name = "adis16475-1", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), |
| }, |
| [ADIS16475_2] = { |
| .name = "adis16475-2", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), |
| }, |
| [ADIS16475_3] = { |
| .name = "adis16475-3", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), |
| }, |
| [ADIS16477_1] = { |
| .name = "adis16477-1", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), |
| }, |
| [ADIS16477_2] = { |
| .name = "adis16477-2", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), |
| }, |
| [ADIS16477_3] = { |
| .name = "adis16477-3", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), |
| }, |
| [ADIS16465_1] = { |
| .name = "adis16465-1", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), |
| }, |
| [ADIS16465_2] = { |
| .name = "adis16465-2", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), |
| }, |
| [ADIS16465_3] = { |
| .name = "adis16465-3", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), |
| }, |
| [ADIS16467_1] = { |
| .name = "adis16467-1", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), |
| }, |
| [ADIS16467_2] = { |
| .name = "adis16467-2", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), |
| }, |
| [ADIS16467_3] = { |
| .name = "adis16467-3", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), |
| .accel_max_val = 1, |
| .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode), |
| .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), |
| }, |
| [ADIS16500] = { |
| .name = "adis16500", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), |
| .accel_max_val = 392, |
| .accel_max_scale = 32000 << 16, |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| /* pulse sync not supported */ |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, |
| .has_burst32 = true, |
| .adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts), |
| }, |
| [ADIS16505_1] = { |
| .name = "adis16505-1", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), |
| .accel_max_val = 78, |
| .accel_max_scale = 32000 << 16, |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| /* pulse sync not supported */ |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, |
| .has_burst32 = true, |
| .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), |
| }, |
| [ADIS16505_2] = { |
| .name = "adis16505-2", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), |
| .accel_max_val = 78, |
| .accel_max_scale = 32000 << 16, |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| /* pulse sync not supported */ |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, |
| .has_burst32 = true, |
| .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), |
| }, |
| [ADIS16505_3] = { |
| .name = "adis16505-3", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), |
| .accel_max_val = 78, |
| .accel_max_scale = 32000 << 16, |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| /* pulse sync not supported */ |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, |
| .has_burst32 = true, |
| .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), |
| }, |
| [ADIS16507_1] = { |
| .name = "adis16507-1", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), |
| .accel_max_val = 392, |
| .accel_max_scale = 32000 << 16, |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| /* pulse sync not supported */ |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, |
| .has_burst32 = true, |
| .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), |
| }, |
| [ADIS16507_2] = { |
| .name = "adis16507-2", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), |
| .accel_max_val = 392, |
| .accel_max_scale = 32000 << 16, |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| /* pulse sync not supported */ |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, |
| .has_burst32 = true, |
| .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), |
| }, |
| [ADIS16507_3] = { |
| .name = "adis16507-3", |
| .num_channels = ARRAY_SIZE(adis16475_channels), |
| .channels = adis16475_channels, |
| .gyro_max_val = 1, |
| .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), |
| .accel_max_val = 392, |
| .accel_max_scale = 32000 << 16, |
| .temp_scale = 100, |
| .int_clk = 2000, |
| .max_dec = 1999, |
| .sync = adis16475_sync_mode, |
| /* pulse sync not supported */ |
| .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, |
| .has_burst32 = true, |
| .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), |
| }, |
| }; |
| |
| static const struct iio_info adis16475_info = { |
| .read_raw = &adis16475_read_raw, |
| .write_raw = &adis16475_write_raw, |
| .update_scan_mode = adis_update_scan_mode, |
| .debugfs_reg_access = adis_debugfs_reg_access, |
| }; |
| |
| static bool adis16475_validate_crc(const u8 *buffer, u16 crc, |
| const bool burst32) |
| { |
| int i; |
| /* extra 6 elements for low gyro and accel */ |
| const u16 sz = burst32 ? ADIS16475_BURST32_MAX_DATA : |
| ADIS16475_BURST_MAX_DATA; |
| |
| for (i = 0; i < sz - 2; i++) |
| crc -= buffer[i]; |
| |
| return crc == 0; |
| } |
| |
| static void adis16475_burst32_check(struct adis16475 *st) |
| { |
| int ret; |
| struct adis *adis = &st->adis; |
| |
| if (!st->info->has_burst32) |
| return; |
| |
| if (st->lsb_flag && !st->burst32) { |
| const u16 en = ADIS16500_BURST32(1); |
| |
| ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, |
| ADIS16500_BURST32_MASK, en); |
| if (ret) |
| return; |
| |
| st->burst32 = true; |
| |
| /* |
| * In 32-bit mode we need extra 2 bytes for all gyro |
| * and accel channels. |
| */ |
| adis->burst_extra_len = 6 * sizeof(u16); |
| adis->xfer[1].len += 6 * sizeof(u16); |
| dev_dbg(&adis->spi->dev, "Enable burst32 mode, xfer:%d", |
| adis->xfer[1].len); |
| |
| } else if (!st->lsb_flag && st->burst32) { |
| const u16 en = ADIS16500_BURST32(0); |
| |
| ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, |
| ADIS16500_BURST32_MASK, en); |
| if (ret) |
| return; |
| |
| st->burst32 = false; |
| |
| /* Remove the extra bits */ |
| adis->burst_extra_len = 0; |
| adis->xfer[1].len -= 6 * sizeof(u16); |
| dev_dbg(&adis->spi->dev, "Disable burst32 mode, xfer:%d\n", |
| adis->xfer[1].len); |
| } |
| } |
| |
| static irqreturn_t adis16475_trigger_handler(int irq, void *p) |
| { |
| struct iio_poll_func *pf = p; |
| struct iio_dev *indio_dev = pf->indio_dev; |
| struct adis16475 *st = iio_priv(indio_dev); |
| struct adis *adis = &st->adis; |
| int ret, bit, i = 0; |
| __be16 *buffer; |
| u16 crc; |
| bool valid; |
| /* offset until the first element after gyro and accel */ |
| const u8 offset = st->burst32 ? 13 : 7; |
| |
| ret = spi_sync(adis->spi, &adis->msg); |
| if (ret) |
| goto check_burst32; |
| |
| buffer = adis->buffer; |
| |
| crc = be16_to_cpu(buffer[offset + 2]); |
| valid = adis16475_validate_crc(adis->buffer, crc, st->burst32); |
| if (!valid) { |
| dev_err(&adis->spi->dev, "Invalid crc\n"); |
| goto check_burst32; |
| } |
| |
| for_each_set_bit(bit, indio_dev->active_scan_mask, |
| indio_dev->masklength) { |
| /* |
| * When burst mode is used, system flags is the first data |
| * channel in the sequence, but the scan index is 7. |
| */ |
| switch (bit) { |
| case ADIS16475_SCAN_TEMP: |
| st->data[i++] = buffer[offset]; |
| break; |
| case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z: |
| /* |
| * The first 2 bytes on the received data are the |
| * DIAG_STAT reg, hence the +1 offset here... |
| */ |
| if (st->burst32) { |
| /* upper 16 */ |
| st->data[i++] = buffer[bit * 2 + 2]; |
| /* lower 16 */ |
| st->data[i++] = buffer[bit * 2 + 1]; |
| } else { |
| st->data[i++] = buffer[bit + 1]; |
| /* |
| * Don't bother in doing the manual read if the |
| * device supports burst32. burst32 will be |
| * enabled in the next call to |
| * adis16475_burst32_check()... |
| */ |
| if (st->lsb_flag && !st->info->has_burst32) { |
| u16 val = 0; |
| const u32 reg = ADIS16475_REG_X_GYRO_L + |
| bit * 4; |
| |
| adis_read_reg_16(adis, reg, &val); |
| st->data[i++] = cpu_to_be16(val); |
| } else { |
| /* lower not used */ |
| st->data[i++] = 0; |
| } |
| } |
| break; |
| } |
| } |
| |
| iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp); |
| check_burst32: |
| /* |
| * We only check the burst mode at the end of the current capture since |
| * it takes a full data ready cycle for the device to update the burst |
| * array. |
| */ |
| adis16475_burst32_check(st); |
| iio_trigger_notify_done(indio_dev->trig); |
| |
| return IRQ_HANDLED; |
| } |
| |
| static void adis16475_disable_clk(void *data) |
| { |
| clk_disable_unprepare((struct clk *)data); |
| } |
| |
| static int adis16475_config_sync_mode(struct adis16475 *st) |
| { |
| int ret; |
| struct device *dev = &st->adis.spi->dev; |
| const struct adis16475_sync *sync; |
| u32 sync_mode; |
| |
| /* default to internal clk */ |
| st->clk_freq = st->info->int_clk * 1000; |
| |
| ret = device_property_read_u32(dev, "adi,sync-mode", &sync_mode); |
| if (ret) |
| return 0; |
| |
| if (sync_mode >= st->info->num_sync) { |
| dev_err(dev, "Invalid sync mode: %u for %s\n", sync_mode, |
| st->info->name); |
| return -EINVAL; |
| } |
| |
| sync = &st->info->sync[sync_mode]; |
| st->sync_mode = sync->sync_mode; |
| |
| /* All the other modes require external input signal */ |
| if (sync->sync_mode != ADIS16475_SYNC_OUTPUT) { |
| struct clk *clk = devm_clk_get(dev, NULL); |
| |
| if (IS_ERR(clk)) |
| return PTR_ERR(clk); |
| |
| ret = clk_prepare_enable(clk); |
| if (ret) |
| return ret; |
| |
| ret = devm_add_action_or_reset(dev, adis16475_disable_clk, clk); |
| if (ret) |
| return ret; |
| |
| st->clk_freq = clk_get_rate(clk); |
| if (st->clk_freq < sync->min_rate || |
| st->clk_freq > sync->max_rate) { |
| dev_err(dev, |
| "Clk rate:%u not in a valid range:[%u %u]\n", |
| st->clk_freq, sync->min_rate, sync->max_rate); |
| return -EINVAL; |
| } |
| |
| if (sync->sync_mode == ADIS16475_SYNC_SCALED) { |
| u16 up_scale; |
| |
| /* |
| * In sync scaled mode, the IMU sample rate is the clk_freq * sync_scale. |
| * Hence, default the IMU sample rate to the highest multiple of the input |
| * clock lower than the IMU max sample rate. The optimal range is |
| * 1900-2100 sps... |
| */ |
| up_scale = 2100 / st->clk_freq; |
| |
| ret = __adis_write_reg_16(&st->adis, |
| ADIS16475_REG_UP_SCALE, |
| up_scale); |
| if (ret) |
| return ret; |
| } |
| |
| st->clk_freq *= 1000; |
| } |
| /* |
| * Keep in mind that the mask for the clk modes in adis1650* |
| * chips is different (1100 instead of 11100). However, we |
| * are not configuring BIT(4) in these chips and the default |
| * value is 0, so we are fine in doing the below operations. |
| * I'm keeping this for simplicity and avoiding extra variables |
| * in chip_info. |
| */ |
| ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, |
| ADIS16475_SYNC_MODE_MASK, sync->sync_mode); |
| if (ret) |
| return ret; |
| |
| usleep_range(250, 260); |
| |
| return 0; |
| } |
| |
| static int adis16475_config_irq_pin(struct adis16475 *st) |
| { |
| int ret; |
| struct irq_data *desc; |
| u32 irq_type; |
| u16 val = 0; |
| u8 polarity; |
| struct spi_device *spi = st->adis.spi; |
| |
| desc = irq_get_irq_data(spi->irq); |
| if (!desc) { |
| dev_err(&spi->dev, "Could not find IRQ %d\n", spi->irq); |
| return -EINVAL; |
| } |
| /* |
| * It is possible to configure the data ready polarity. Furthermore, we |
| * need to update the adis struct if we want data ready as active low. |
| */ |
| irq_type = irqd_get_trigger_type(desc); |
| if (irq_type == IRQ_TYPE_EDGE_RISING) { |
| polarity = 1; |
| st->adis.irq_flag = IRQF_TRIGGER_RISING; |
| } else if (irq_type == IRQ_TYPE_EDGE_FALLING) { |
| polarity = 0; |
| st->adis.irq_flag = IRQF_TRIGGER_FALLING; |
| } else { |
| dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n", |
| irq_type); |
| return -EINVAL; |
| } |
| |
| /* We cannot mask the interrupt so ensure it's not enabled at request */ |
| st->adis.irq_flag |= IRQF_NO_AUTOEN; |
| |
| val = ADIS16475_MSG_CTRL_DR_POL(polarity); |
| ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, |
| ADIS16475_MSG_CTRL_DR_POL_MASK, val); |
| if (ret) |
| return ret; |
| /* |
| * There is a delay writing to any bits written to the MSC_CTRL |
| * register. It should not be bigger than 200us, so 250 should be more |
| * than enough! |
| */ |
| usleep_range(250, 260); |
| |
| return 0; |
| } |
| |
| |
| static int adis16475_probe(struct spi_device *spi) |
| { |
| struct iio_dev *indio_dev; |
| struct adis16475 *st; |
| int ret; |
| |
| indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
| if (!indio_dev) |
| return -ENOMEM; |
| |
| st = iio_priv(indio_dev); |
| |
| st->info = spi_get_device_match_data(spi); |
| if (!st->info) |
| return -EINVAL; |
| |
| ret = adis_init(&st->adis, indio_dev, spi, &st->info->adis_data); |
| if (ret) |
| return ret; |
| |
| indio_dev->name = st->info->name; |
| indio_dev->channels = st->info->channels; |
| indio_dev->num_channels = st->info->num_channels; |
| indio_dev->info = &adis16475_info; |
| indio_dev->modes = INDIO_DIRECT_MODE; |
| |
| ret = __adis_initial_startup(&st->adis); |
| if (ret) |
| return ret; |
| |
| ret = adis16475_config_irq_pin(st); |
| if (ret) |
| return ret; |
| |
| ret = adis16475_config_sync_mode(st); |
| if (ret) |
| return ret; |
| |
| ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, |
| adis16475_trigger_handler); |
| if (ret) |
| return ret; |
| |
| ret = devm_iio_device_register(&spi->dev, indio_dev); |
| if (ret) |
| return ret; |
| |
| adis16475_debugfs_init(indio_dev); |
| |
| return 0; |
| } |
| |
| static const struct of_device_id adis16475_of_match[] = { |
| { .compatible = "adi,adis16470", |
| .data = &adis16475_chip_info[ADIS16470] }, |
| { .compatible = "adi,adis16475-1", |
| .data = &adis16475_chip_info[ADIS16475_1] }, |
| { .compatible = "adi,adis16475-2", |
| .data = &adis16475_chip_info[ADIS16475_2] }, |
| { .compatible = "adi,adis16475-3", |
| .data = &adis16475_chip_info[ADIS16475_3] }, |
| { .compatible = "adi,adis16477-1", |
| .data = &adis16475_chip_info[ADIS16477_1] }, |
| { .compatible = "adi,adis16477-2", |
| .data = &adis16475_chip_info[ADIS16477_2] }, |
| { .compatible = "adi,adis16477-3", |
| .data = &adis16475_chip_info[ADIS16477_3] }, |
| { .compatible = "adi,adis16465-1", |
| .data = &adis16475_chip_info[ADIS16465_1] }, |
| { .compatible = "adi,adis16465-2", |
| .data = &adis16475_chip_info[ADIS16465_2] }, |
| { .compatible = "adi,adis16465-3", |
| .data = &adis16475_chip_info[ADIS16465_3] }, |
| { .compatible = "adi,adis16467-1", |
| .data = &adis16475_chip_info[ADIS16467_1] }, |
| { .compatible = "adi,adis16467-2", |
| .data = &adis16475_chip_info[ADIS16467_2] }, |
| { .compatible = "adi,adis16467-3", |
| .data = &adis16475_chip_info[ADIS16467_3] }, |
| { .compatible = "adi,adis16500", |
| .data = &adis16475_chip_info[ADIS16500] }, |
| { .compatible = "adi,adis16505-1", |
| .data = &adis16475_chip_info[ADIS16505_1] }, |
| { .compatible = "adi,adis16505-2", |
| .data = &adis16475_chip_info[ADIS16505_2] }, |
| { .compatible = "adi,adis16505-3", |
| .data = &adis16475_chip_info[ADIS16505_3] }, |
| { .compatible = "adi,adis16507-1", |
| .data = &adis16475_chip_info[ADIS16507_1] }, |
| { .compatible = "adi,adis16507-2", |
| .data = &adis16475_chip_info[ADIS16507_2] }, |
| { .compatible = "adi,adis16507-3", |
| .data = &adis16475_chip_info[ADIS16507_3] }, |
| { }, |
| }; |
| MODULE_DEVICE_TABLE(of, adis16475_of_match); |
| |
| static const struct spi_device_id adis16475_ids[] = { |
| { "adis16470", (kernel_ulong_t)&adis16475_chip_info[ADIS16470] }, |
| { "adis16475-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_1] }, |
| { "adis16475-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_2] }, |
| { "adis16475-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16475_3] }, |
| { "adis16477-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_1] }, |
| { "adis16477-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_2] }, |
| { "adis16477-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16477_3] }, |
| { "adis16465-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_1] }, |
| { "adis16465-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_2] }, |
| { "adis16465-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16465_3] }, |
| { "adis16467-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_1] }, |
| { "adis16467-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_2] }, |
| { "adis16467-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16467_3] }, |
| { "adis16500", (kernel_ulong_t)&adis16475_chip_info[ADIS16500] }, |
| { "adis16505-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_1] }, |
| { "adis16505-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_2] }, |
| { "adis16505-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16505_3] }, |
| { "adis16507-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_1] }, |
| { "adis16507-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_2] }, |
| { "adis16507-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_3] }, |
| { } |
| }; |
| MODULE_DEVICE_TABLE(spi, adis16475_ids); |
| |
| static struct spi_driver adis16475_driver = { |
| .driver = { |
| .name = "adis16475", |
| .of_match_table = adis16475_of_match, |
| }, |
| .probe = adis16475_probe, |
| .id_table = adis16475_ids, |
| }; |
| module_spi_driver(adis16475_driver); |
| |
| MODULE_AUTHOR("Nuno Sa <nuno.sa@analog.com>"); |
| MODULE_DESCRIPTION("Analog Devices ADIS16475 IMU driver"); |
| MODULE_LICENSE("GPL"); |
| MODULE_IMPORT_NS(IIO_ADISLIB); |