1 // SPDX-License-Identifier: GPL-2.0-only
3 * adis16400.c support Analog Devices ADIS16400/5
4 * 3d 2g Linear Accelerometers,
6 * 3d Magnetometers via SPI
8 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
9 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
10 * Copyright (c) 2011 Analog Devices Inc.
13 #include <linux/interrupt.h>
14 #include <linux/irq.h>
15 #include <linux/delay.h>
16 #include <linux/mutex.h>
17 #include <linux/device.h>
18 #include <linux/kernel.h>
19 #include <linux/spi/spi.h>
20 #include <linux/slab.h>
21 #include <linux/sysfs.h>
22 #include <linux/list.h>
23 #include <linux/module.h>
24 #include <linux/debugfs.h>
25 #include <linux/bitops.h>
27 #include <linux/iio/iio.h>
28 #include <linux/iio/sysfs.h>
29 #include <linux/iio/buffer.h>
30 #include <linux/iio/trigger_consumer.h>
31 #include <linux/iio/imu/adis.h>
33 #define ADIS16400_STARTUP_DELAY 290 /* ms */
34 #define ADIS16400_MTEST_DELAY 90 /* ms */
36 #define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
37 #define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
38 #define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
39 #define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
40 #define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
41 #define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
42 #define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
43 #define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
44 #define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
45 #define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
46 #define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
47 #define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
48 #define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
50 #define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
51 #define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
52 #define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
54 #define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
55 #define ADIS16300_ROLL_OUT 0x14 /* Y axis inclinometer output measurement */
56 #define ADIS16300_AUX_ADC 0x16 /* Auxiliary ADC measurement */
58 #define ADIS16448_BARO_OUT 0x16 /* Barometric pressure output */
59 #define ADIS16448_TEMP_OUT 0x18 /* Temperature output */
61 /* Calibration parameters */
62 #define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
63 #define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
64 #define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
65 #define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
66 #define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
67 #define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
68 #define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
69 #define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
70 #define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
71 #define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
72 #define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
73 #define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
75 #define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
76 #define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
77 #define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
78 #define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
79 #define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
80 #define ADIS16400_DIAG_STAT 0x3C /* System status */
83 #define ADIS16400_GLOB_CMD 0x3E /* System command */
84 #define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
85 #define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
86 #define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
87 #define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
88 #define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
89 #define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
91 #define ADIS16334_LOT_ID1 0x52 /* Lot identification code 1 */
92 #define ADIS16334_LOT_ID2 0x54 /* Lot identification code 2 */
93 #define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
94 #define ADIS16334_SERIAL_NUMBER 0x58 /* Serial number, lot specific */
96 #define ADIS16400_ERROR_ACTIVE (1<<14)
97 #define ADIS16400_NEW_DATA (1<<14)
100 #define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
101 #define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
102 #define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
103 #define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
104 #define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
105 #define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
106 #define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
107 #define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
108 #define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
111 #define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
112 #define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
115 #define ADIS16400_DIAG_STAT_ZACCL_FAIL 15
116 #define ADIS16400_DIAG_STAT_YACCL_FAIL 14
117 #define ADIS16400_DIAG_STAT_XACCL_FAIL 13
118 #define ADIS16400_DIAG_STAT_XGYRO_FAIL 12
119 #define ADIS16400_DIAG_STAT_YGYRO_FAIL 11
120 #define ADIS16400_DIAG_STAT_ZGYRO_FAIL 10
121 #define ADIS16400_DIAG_STAT_ALARM2 9
122 #define ADIS16400_DIAG_STAT_ALARM1 8
123 #define ADIS16400_DIAG_STAT_FLASH_CHK 6
124 #define ADIS16400_DIAG_STAT_SELF_TEST 5
125 #define ADIS16400_DIAG_STAT_OVERFLOW 4
126 #define ADIS16400_DIAG_STAT_SPI_FAIL 3
127 #define ADIS16400_DIAG_STAT_FLASH_UPT 2
128 #define ADIS16400_DIAG_STAT_POWER_HIGH 1
129 #define ADIS16400_DIAG_STAT_POWER_LOW 0
132 #define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
133 #define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
134 #define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
135 #define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
136 #define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
137 #define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
140 #define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
142 #define ADIS16334_RATE_DIV_SHIFT 8
143 #define ADIS16334_RATE_INT_CLK BIT(0)
145 #define ADIS16400_SPI_SLOW (u32)(300 * 1000)
146 #define ADIS16400_SPI_BURST (u32)(1000 * 1000)
147 #define ADIS16400_SPI_FAST (u32)(2000 * 1000)
149 #define ADIS16400_HAS_PROD_ID BIT(0)
150 #define ADIS16400_NO_BURST BIT(1)
151 #define ADIS16400_HAS_SLOW_MODE BIT(2)
152 #define ADIS16400_HAS_SERIAL_NUMBER BIT(3)
153 #define ADIS16400_BURST_DIAG_STAT BIT(4)
155 struct adis16400_state;
157 struct adis16400_chip_info {
158 const struct iio_chan_spec *channels;
159 const struct adis_timeout *timeouts;
160 const int num_channels;
162 unsigned int gyro_scale_micro;
163 unsigned int accel_scale_micro;
166 /* set_freq() & get_freq() need to avoid using ADIS lib's state lock */
167 int (*set_freq)(struct adis16400_state *st, unsigned int freq);
168 int (*get_freq)(struct adis16400_state *st);
172 * struct adis16400_state - device instance specific data
173 * @variant: chip variant info
174 * @filt_int: integer part of requested filter frequency
177 struct adis16400_state {
178 struct adis16400_chip_info *variant;
182 unsigned long avail_scan_mask[2];
185 /* At the moment triggers are only used for ring buffer
186 * filling. This may change!
190 ADIS16400_SCAN_SUPPLY,
191 ADIS16400_SCAN_GYRO_X,
192 ADIS16400_SCAN_GYRO_Y,
193 ADIS16400_SCAN_GYRO_Z,
194 ADIS16400_SCAN_ACC_X,
195 ADIS16400_SCAN_ACC_Y,
196 ADIS16400_SCAN_ACC_Z,
197 ADIS16400_SCAN_MAGN_X,
198 ADIS16400_SCAN_MAGN_Y,
199 ADIS16400_SCAN_MAGN_Z,
201 ADIS16350_SCAN_TEMP_X,
202 ADIS16350_SCAN_TEMP_Y,
203 ADIS16350_SCAN_TEMP_Z,
204 ADIS16300_SCAN_INCLI_X,
205 ADIS16300_SCAN_INCLI_Y,
207 ADIS16400_SCAN_TIMESTAMP,
210 #ifdef CONFIG_DEBUG_FS
212 static ssize_t adis16400_show_serial_number(struct file *file,
213 char __user *userbuf, size_t count, loff_t *ppos)
215 struct adis16400_state *st = file->private_data;
216 u16 lot1, lot2, serial_number;
221 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID1, &lot1);
225 ret = adis_read_reg_16(&st->adis, ADIS16334_LOT_ID2, &lot2);
229 ret = adis_read_reg_16(&st->adis, ADIS16334_SERIAL_NUMBER,
234 len = snprintf(buf, sizeof(buf), "%.4x-%.4x-%.4x\n", lot1, lot2,
237 return simple_read_from_buffer(userbuf, count, ppos, buf, len);
240 static const struct file_operations adis16400_serial_number_fops = {
242 .read = adis16400_show_serial_number,
243 .llseek = default_llseek,
244 .owner = THIS_MODULE,
247 static int adis16400_show_product_id(void *arg, u64 *val)
249 struct adis16400_state *st = arg;
253 ret = adis_read_reg_16(&st->adis, ADIS16400_PRODUCT_ID, &prod_id);
261 DEFINE_SIMPLE_ATTRIBUTE(adis16400_product_id_fops,
262 adis16400_show_product_id, NULL, "%lld\n");
264 static int adis16400_show_flash_count(void *arg, u64 *val)
266 struct adis16400_state *st = arg;
267 uint16_t flash_count;
270 ret = adis_read_reg_16(&st->adis, ADIS16400_FLASH_CNT, &flash_count);
278 DEFINE_SIMPLE_ATTRIBUTE(adis16400_flash_count_fops,
279 adis16400_show_flash_count, NULL, "%lld\n");
281 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
283 struct adis16400_state *st = iio_priv(indio_dev);
285 if (st->variant->flags & ADIS16400_HAS_SERIAL_NUMBER)
286 debugfs_create_file("serial_number", 0400,
287 indio_dev->debugfs_dentry, st,
288 &adis16400_serial_number_fops);
289 if (st->variant->flags & ADIS16400_HAS_PROD_ID)
290 debugfs_create_file("product_id", 0400,
291 indio_dev->debugfs_dentry, st,
292 &adis16400_product_id_fops);
293 debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
294 st, &adis16400_flash_count_fops);
301 static int adis16400_debugfs_init(struct iio_dev *indio_dev)
308 enum adis16400_chip_variant {
321 static struct adis_burst adis16400_burst = {
323 .reg_cmd = ADIS16400_GLOB_CMD,
326 static int adis16334_get_freq(struct adis16400_state *st)
331 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
335 t >>= ADIS16334_RATE_DIV_SHIFT;
340 static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
345 t = ilog2(819200 / freq);
352 t <<= ADIS16334_RATE_DIV_SHIFT;
353 t |= ADIS16334_RATE_INT_CLK;
355 return __adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
358 static int adis16400_get_freq(struct adis16400_state *st)
363 ret = __adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
367 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 52851 : 1638404;
368 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
373 static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
380 val |= ADIS16400_SMPL_PRD_TIME_BASE;
390 if (t >= 0x0A || (val & ADIS16400_SMPL_PRD_TIME_BASE))
391 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
393 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
395 return __adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, val);
398 static const unsigned int adis16400_3db_divisors[] = {
399 [0] = 2, /* Special case */
406 [7] = 200, /* Not a valid setting */
409 static int __adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
411 struct adis16400_state *st = iio_priv(indio_dev);
415 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 1; i--) {
416 if (sps / adis16400_3db_divisors[i] >= val)
420 ret = __adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
424 ret = __adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
425 (val16 & ~0x07) | i);
429 /* Power down the device */
430 static int adis16400_stop_device(struct iio_dev *indio_dev)
432 struct adis16400_state *st = iio_priv(indio_dev);
435 ret = adis_write_reg_16(&st->adis, ADIS16400_SLP_CNT,
436 ADIS16400_SLP_CNT_POWER_OFF);
438 dev_err(&indio_dev->dev,
439 "problem with turning device off: SLP_CNT");
444 static int adis16400_initial_setup(struct iio_dev *indio_dev)
446 struct adis16400_state *st = iio_priv(indio_dev);
447 uint16_t prod_id, smp_prd;
448 unsigned int device_id;
451 /* use low spi speed for init if the device has a slow mode */
452 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
453 st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
455 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
456 st->adis.spi->mode = SPI_MODE_3;
457 spi_setup(st->adis.spi);
459 ret = adis_initial_startup(&st->adis);
463 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
464 ret = adis_read_reg_16(&st->adis,
465 ADIS16400_PRODUCT_ID, &prod_id);
469 ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
475 if (prod_id != device_id)
476 dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
479 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
480 indio_dev->name, prod_id,
481 st->adis.spi->chip_select, st->adis.spi->irq);
483 /* use high spi speed if possible */
484 if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
485 ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
489 if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
490 st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
491 spi_setup(st->adis.spi);
499 static const uint8_t adis16400_addresses[] = {
500 [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
501 [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
502 [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
503 [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
504 [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
505 [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
508 static int adis16400_write_raw(struct iio_dev *indio_dev,
509 struct iio_chan_spec const *chan, int val, int val2, long info)
511 struct adis16400_state *st = iio_priv(indio_dev);
512 struct mutex *slock = &st->adis.state_lock;
516 case IIO_CHAN_INFO_CALIBBIAS:
517 ret = adis_write_reg_16(&st->adis,
518 adis16400_addresses[chan->scan_index], val);
520 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
522 * Need to cache values so we can update if the frequency
527 /* Work out update to current value */
528 sps = st->variant->get_freq(st);
534 ret = __adis16400_set_filter(indio_dev, sps,
535 val * 1000 + val2 / 1000);
538 case IIO_CHAN_INFO_SAMP_FREQ:
539 sps = val * 1000 + val2 / 1000;
545 ret = st->variant->set_freq(st, sps);
553 static int adis16400_read_raw(struct iio_dev *indio_dev,
554 struct iio_chan_spec const *chan, int *val, int *val2, long info)
556 struct adis16400_state *st = iio_priv(indio_dev);
557 struct mutex *slock = &st->adis.state_lock;
562 case IIO_CHAN_INFO_RAW:
563 return adis_single_conversion(indio_dev, chan, 0, val);
564 case IIO_CHAN_INFO_SCALE:
565 switch (chan->type) {
568 *val2 = st->variant->gyro_scale_micro;
569 return IIO_VAL_INT_PLUS_MICRO;
572 if (chan->channel == 0) {
574 *val2 = 418000; /* 2.418 mV */
577 *val2 = 805800; /* 805.8 uV */
579 return IIO_VAL_INT_PLUS_MICRO;
582 *val2 = st->variant->accel_scale_micro;
583 return IIO_VAL_INT_PLUS_MICRO;
586 *val2 = 500; /* 0.5 mgauss */
587 return IIO_VAL_INT_PLUS_MICRO;
589 *val = st->variant->temp_scale_nano / 1000000;
590 *val2 = (st->variant->temp_scale_nano % 1000000);
591 return IIO_VAL_INT_PLUS_MICRO;
593 /* 20 uBar = 0.002kPascal */
596 return IIO_VAL_INT_PLUS_MICRO;
600 case IIO_CHAN_INFO_CALIBBIAS:
601 ret = adis_read_reg_16(&st->adis,
602 adis16400_addresses[chan->scan_index], &val16);
605 val16 = sign_extend32(val16, 11);
608 case IIO_CHAN_INFO_OFFSET:
609 /* currently only temperature */
610 *val = st->variant->temp_offset;
612 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
614 /* Need both the number of taps and the sampling frequency */
615 ret = __adis_read_reg_16(&st->adis,
622 ret = st->variant->get_freq(st);
626 ret /= adis16400_3db_divisors[val16 & 0x07];
628 *val2 = (ret % 1000) * 1000;
629 return IIO_VAL_INT_PLUS_MICRO;
630 case IIO_CHAN_INFO_SAMP_FREQ:
632 ret = st->variant->get_freq(st);
637 *val2 = (ret % 1000) * 1000;
638 return IIO_VAL_INT_PLUS_MICRO;
644 #if IS_ENABLED(CONFIG_IIO_BUFFER)
645 static irqreturn_t adis16400_trigger_handler(int irq, void *p)
647 struct iio_poll_func *pf = p;
648 struct iio_dev *indio_dev = pf->indio_dev;
649 struct adis16400_state *st = iio_priv(indio_dev);
650 struct adis *adis = &st->adis;
651 u32 old_speed_hz = st->adis.spi->max_speed_hz;
658 if (!(st->variant->flags & ADIS16400_NO_BURST) &&
659 st->adis.spi->max_speed_hz > ADIS16400_SPI_BURST) {
660 st->adis.spi->max_speed_hz = ADIS16400_SPI_BURST;
661 spi_setup(st->adis.spi);
664 ret = spi_sync(adis->spi, &adis->msg);
666 dev_err(&adis->spi->dev, "Failed to read data: %d\n", ret);
668 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
669 st->adis.spi->max_speed_hz = old_speed_hz;
670 spi_setup(st->adis.spi);
673 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
674 buffer = adis->buffer + sizeof(u16);
676 buffer = adis->buffer;
678 iio_push_to_buffers_with_timestamp(indio_dev, buffer,
681 iio_trigger_notify_done(indio_dev->trig);
686 #define adis16400_trigger_handler NULL
687 #endif /* IS_ENABLED(CONFIG_IIO_BUFFER) */
689 #define ADIS16400_VOLTAGE_CHAN(addr, bits, name, si, chn) { \
690 .type = IIO_VOLTAGE, \
693 .extend_name = name, \
694 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
695 BIT(IIO_CHAN_INFO_SCALE), \
696 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
698 .scan_index = (si), \
701 .realbits = (bits), \
704 .endianness = IIO_BE, \
708 #define ADIS16400_SUPPLY_CHAN(addr, bits) \
709 ADIS16400_VOLTAGE_CHAN(addr, bits, "supply", ADIS16400_SCAN_SUPPLY, 0)
711 #define ADIS16400_AUX_ADC_CHAN(addr, bits) \
712 ADIS16400_VOLTAGE_CHAN(addr, bits, NULL, ADIS16400_SCAN_ADC, 1)
714 #define ADIS16400_GYRO_CHAN(mod, addr, bits) { \
715 .type = IIO_ANGL_VEL, \
717 .channel2 = IIO_MOD_ ## mod, \
718 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
719 BIT(IIO_CHAN_INFO_CALIBBIAS), \
720 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
721 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
722 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
724 .scan_index = ADIS16400_SCAN_GYRO_ ## mod, \
727 .realbits = (bits), \
730 .endianness = IIO_BE, \
734 #define ADIS16400_ACCEL_CHAN(mod, addr, bits) { \
737 .channel2 = IIO_MOD_ ## mod, \
738 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
739 BIT(IIO_CHAN_INFO_CALIBBIAS), \
740 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
741 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
742 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
744 .scan_index = ADIS16400_SCAN_ACC_ ## mod, \
747 .realbits = (bits), \
750 .endianness = IIO_BE, \
754 #define ADIS16400_MAGN_CHAN(mod, addr, bits) { \
757 .channel2 = IIO_MOD_ ## mod, \
758 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
759 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
760 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
761 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
763 .scan_index = ADIS16400_SCAN_MAGN_ ## mod, \
766 .realbits = (bits), \
769 .endianness = IIO_BE, \
773 #define ADIS16400_MOD_TEMP_NAME_X "x"
774 #define ADIS16400_MOD_TEMP_NAME_Y "y"
775 #define ADIS16400_MOD_TEMP_NAME_Z "z"
777 #define ADIS16400_MOD_TEMP_CHAN(mod, addr, bits) { \
781 .extend_name = ADIS16400_MOD_TEMP_NAME_ ## mod, \
782 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
783 BIT(IIO_CHAN_INFO_OFFSET) | \
784 BIT(IIO_CHAN_INFO_SCALE), \
785 .info_mask_shared_by_type = \
786 BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
787 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
789 .scan_index = ADIS16350_SCAN_TEMP_ ## mod, \
792 .realbits = (bits), \
795 .endianness = IIO_BE, \
799 #define ADIS16400_TEMP_CHAN(addr, bits) { \
803 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
804 BIT(IIO_CHAN_INFO_OFFSET) | \
805 BIT(IIO_CHAN_INFO_SCALE), \
806 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
808 .scan_index = ADIS16350_SCAN_TEMP_X, \
811 .realbits = (bits), \
814 .endianness = IIO_BE, \
818 #define ADIS16400_INCLI_CHAN(mod, addr, bits) { \
821 .channel2 = IIO_MOD_ ## mod, \
822 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \
823 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
824 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
826 .scan_index = ADIS16300_SCAN_INCLI_ ## mod, \
829 .realbits = (bits), \
832 .endianness = IIO_BE, \
836 static const struct iio_chan_spec adis16400_channels[] = {
837 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 14),
838 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
839 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
840 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
841 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
842 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
843 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
844 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
845 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
846 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
847 ADIS16400_TEMP_CHAN(ADIS16400_TEMP_OUT, 12),
848 ADIS16400_AUX_ADC_CHAN(ADIS16400_AUX_ADC, 12),
849 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
852 static const struct iio_chan_spec adis16445_channels[] = {
853 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
854 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
855 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
856 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
857 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
858 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
859 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
860 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
863 static const struct iio_chan_spec adis16448_channels[] = {
864 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 16),
865 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 16),
866 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 16),
867 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 16),
868 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 16),
869 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 16),
870 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 16),
871 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 16),
872 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 16),
874 .type = IIO_PRESSURE,
875 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW),
876 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE),
877 .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ),
878 .address = ADIS16448_BARO_OUT,
879 .scan_index = ADIS16400_SCAN_BARO,
884 .endianness = IIO_BE,
887 ADIS16400_TEMP_CHAN(ADIS16448_TEMP_OUT, 12),
888 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
891 static const struct iio_chan_spec adis16350_channels[] = {
892 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
893 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
894 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
895 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
896 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
897 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
898 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
899 ADIS16400_MAGN_CHAN(X, ADIS16400_XMAGN_OUT, 14),
900 ADIS16400_MAGN_CHAN(Y, ADIS16400_YMAGN_OUT, 14),
901 ADIS16400_MAGN_CHAN(Z, ADIS16400_ZMAGN_OUT, 14),
902 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
903 ADIS16400_MOD_TEMP_CHAN(X, ADIS16350_XTEMP_OUT, 12),
904 ADIS16400_MOD_TEMP_CHAN(Y, ADIS16350_YTEMP_OUT, 12),
905 ADIS16400_MOD_TEMP_CHAN(Z, ADIS16350_ZTEMP_OUT, 12),
906 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
909 static const struct iio_chan_spec adis16300_channels[] = {
910 ADIS16400_SUPPLY_CHAN(ADIS16400_SUPPLY_OUT, 12),
911 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
912 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
913 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
914 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
915 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
916 ADIS16400_AUX_ADC_CHAN(ADIS16300_AUX_ADC, 12),
917 ADIS16400_INCLI_CHAN(X, ADIS16300_PITCH_OUT, 13),
918 ADIS16400_INCLI_CHAN(Y, ADIS16300_ROLL_OUT, 13),
919 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
922 static const struct iio_chan_spec adis16334_channels[] = {
923 ADIS16400_GYRO_CHAN(X, ADIS16400_XGYRO_OUT, 14),
924 ADIS16400_GYRO_CHAN(Y, ADIS16400_YGYRO_OUT, 14),
925 ADIS16400_GYRO_CHAN(Z, ADIS16400_ZGYRO_OUT, 14),
926 ADIS16400_ACCEL_CHAN(X, ADIS16400_XACCL_OUT, 14),
927 ADIS16400_ACCEL_CHAN(Y, ADIS16400_YACCL_OUT, 14),
928 ADIS16400_ACCEL_CHAN(Z, ADIS16400_ZACCL_OUT, 14),
929 ADIS16400_TEMP_CHAN(ADIS16350_XTEMP_OUT, 12),
930 IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
933 static const struct adis_timeout adis16300_timeouts = {
934 .reset_ms = ADIS16400_STARTUP_DELAY,
935 .sw_reset_ms = ADIS16400_STARTUP_DELAY,
936 .self_test_ms = ADIS16400_STARTUP_DELAY,
939 static const struct adis_timeout adis16362_timeouts = {
945 static const struct adis_timeout adis16400_timeouts = {
951 static const struct adis_timeout adis16445_timeouts = {
957 static const struct adis_timeout adis16448_timeouts = {
963 static struct adis16400_chip_info adis16400_chips[] = {
965 .channels = adis16300_channels,
966 .num_channels = ARRAY_SIZE(adis16300_channels),
967 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
968 ADIS16400_HAS_SERIAL_NUMBER,
969 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
970 .accel_scale_micro = 5884,
971 .temp_scale_nano = 140000000, /* 0.14 C */
972 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
973 .set_freq = adis16400_set_freq,
974 .get_freq = adis16400_get_freq,
975 .timeouts = &adis16300_timeouts,
978 .channels = adis16334_channels,
979 .num_channels = ARRAY_SIZE(adis16334_channels),
980 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_NO_BURST |
981 ADIS16400_HAS_SERIAL_NUMBER,
982 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
983 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
984 .temp_scale_nano = 67850000, /* 0.06785 C */
985 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
986 .set_freq = adis16334_set_freq,
987 .get_freq = adis16334_get_freq,
990 .channels = adis16350_channels,
991 .num_channels = ARRAY_SIZE(adis16350_channels),
992 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
993 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
994 .temp_scale_nano = 145300000, /* 0.1453 C */
995 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
996 .flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
997 .set_freq = adis16400_set_freq,
998 .get_freq = adis16400_get_freq,
999 .timeouts = &adis16300_timeouts,
1002 .channels = adis16350_channels,
1003 .num_channels = ARRAY_SIZE(adis16350_channels),
1004 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1005 ADIS16400_HAS_SERIAL_NUMBER,
1006 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1007 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1008 .temp_scale_nano = 136000000, /* 0.136 C */
1009 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1010 .set_freq = adis16400_set_freq,
1011 .get_freq = adis16400_get_freq,
1012 .timeouts = &adis16300_timeouts,
1015 .channels = adis16350_channels,
1016 .num_channels = ARRAY_SIZE(adis16350_channels),
1017 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1018 ADIS16400_HAS_SERIAL_NUMBER,
1019 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1020 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1021 .temp_scale_nano = 136000000, /* 0.136 C */
1022 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1023 .set_freq = adis16400_set_freq,
1024 .get_freq = adis16400_get_freq,
1025 .timeouts = &adis16362_timeouts,
1028 .channels = adis16350_channels,
1029 .num_channels = ARRAY_SIZE(adis16350_channels),
1030 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1031 ADIS16400_HAS_SERIAL_NUMBER,
1032 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1033 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1034 .temp_scale_nano = 136000000, /* 0.136 C */
1035 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1036 .set_freq = adis16400_set_freq,
1037 .get_freq = adis16400_get_freq,
1038 .timeouts = &adis16362_timeouts,
1041 .channels = adis16350_channels,
1042 .num_channels = ARRAY_SIZE(adis16350_channels),
1043 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE |
1044 ADIS16400_HAS_SERIAL_NUMBER,
1045 .gyro_scale_micro = IIO_DEGREE_TO_RAD(2000), /* 0.2 deg/s */
1046 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1047 .temp_scale_nano = 136000000, /* 0.136 C */
1048 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1049 .set_freq = adis16400_set_freq,
1050 .get_freq = adis16400_get_freq,
1051 .timeouts = &adis16300_timeouts,
1054 .channels = adis16400_channels,
1055 .num_channels = ARRAY_SIZE(adis16400_channels),
1056 .flags = ADIS16400_HAS_PROD_ID | ADIS16400_HAS_SLOW_MODE,
1057 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1058 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1059 .temp_scale_nano = 140000000, /* 0.14 C */
1060 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1061 .set_freq = adis16400_set_freq,
1062 .get_freq = adis16400_get_freq,
1063 .timeouts = &adis16400_timeouts,
1066 .channels = adis16445_channels,
1067 .num_channels = ARRAY_SIZE(adis16445_channels),
1068 .flags = ADIS16400_HAS_PROD_ID |
1069 ADIS16400_HAS_SERIAL_NUMBER |
1070 ADIS16400_BURST_DIAG_STAT,
1071 .gyro_scale_micro = IIO_DEGREE_TO_RAD(10000), /* 0.01 deg/s */
1072 .accel_scale_micro = IIO_G_TO_M_S_2(250), /* 1/4000 g */
1073 .temp_scale_nano = 73860000, /* 0.07386 C */
1074 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1075 .set_freq = adis16334_set_freq,
1076 .get_freq = adis16334_get_freq,
1077 .timeouts = &adis16445_timeouts,
1080 .channels = adis16448_channels,
1081 .num_channels = ARRAY_SIZE(adis16448_channels),
1082 .flags = ADIS16400_HAS_PROD_ID |
1083 ADIS16400_HAS_SERIAL_NUMBER |
1084 ADIS16400_BURST_DIAG_STAT,
1085 .gyro_scale_micro = IIO_DEGREE_TO_RAD(40000), /* 0.04 deg/s */
1086 .accel_scale_micro = IIO_G_TO_M_S_2(833), /* 1/1200 g */
1087 .temp_scale_nano = 73860000, /* 0.07386 C */
1088 .temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
1089 .set_freq = adis16334_set_freq,
1090 .get_freq = adis16334_get_freq,
1091 .timeouts = &adis16448_timeouts,
1095 static const struct iio_info adis16400_info = {
1096 .read_raw = &adis16400_read_raw,
1097 .write_raw = &adis16400_write_raw,
1098 .update_scan_mode = adis_update_scan_mode,
1099 .debugfs_reg_access = adis_debugfs_reg_access,
1102 static const char * const adis16400_status_error_msgs[] = {
1103 [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
1104 [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
1105 [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
1106 [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
1107 [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
1108 [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
1109 [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
1110 [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
1111 [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
1112 [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
1113 [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
1114 [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
1115 [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
1116 [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
1117 [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
1120 static const struct adis_data adis16400_data = {
1121 .msc_ctrl_reg = ADIS16400_MSC_CTRL,
1122 .glob_cmd_reg = ADIS16400_GLOB_CMD,
1123 .diag_stat_reg = ADIS16400_DIAG_STAT,
1128 .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
1129 .startup_delay = ADIS16400_STARTUP_DELAY,
1131 .status_error_msgs = adis16400_status_error_msgs,
1132 .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
1133 BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
1134 BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
1135 BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
1136 BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
1137 BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
1138 BIT(ADIS16400_DIAG_STAT_ALARM2) |
1139 BIT(ADIS16400_DIAG_STAT_ALARM1) |
1140 BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
1141 BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
1142 BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
1143 BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
1144 BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
1145 BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
1146 BIT(ADIS16400_DIAG_STAT_POWER_LOW),
1149 static void adis16400_setup_chan_mask(struct adis16400_state *st)
1151 const struct adis16400_chip_info *chip_info = st->variant;
1154 for (i = 0; i < chip_info->num_channels; i++) {
1155 const struct iio_chan_spec *ch = &chip_info->channels[i];
1157 if (ch->scan_index >= 0 &&
1158 ch->scan_index != ADIS16400_SCAN_TIMESTAMP)
1159 st->avail_scan_mask[0] |= BIT(ch->scan_index);
1163 static struct adis_data *adis16400_adis_data_alloc(struct adis16400_state *st,
1166 struct adis_data *data;
1168 data = devm_kmalloc(dev, sizeof(struct adis_data), GFP_KERNEL);
1170 return ERR_PTR(-ENOMEM);
1172 memcpy(data, &adis16400_data, sizeof(*data));
1174 data->timeouts = st->variant->timeouts;
1179 static int adis16400_probe(struct spi_device *spi)
1181 struct adis16400_state *st;
1182 struct iio_dev *indio_dev;
1184 const struct adis_data *adis16400_data;
1186 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
1187 if (indio_dev == NULL)
1190 st = iio_priv(indio_dev);
1191 /* this is only used for removal purposes */
1192 spi_set_drvdata(spi, indio_dev);
1194 /* setup the industrialio driver allocated elements */
1195 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1196 indio_dev->dev.parent = &spi->dev;
1197 indio_dev->name = spi_get_device_id(spi)->name;
1198 indio_dev->channels = st->variant->channels;
1199 indio_dev->num_channels = st->variant->num_channels;
1200 indio_dev->info = &adis16400_info;
1201 indio_dev->modes = INDIO_DIRECT_MODE;
1203 if (!(st->variant->flags & ADIS16400_NO_BURST)) {
1204 adis16400_setup_chan_mask(st);
1205 indio_dev->available_scan_masks = st->avail_scan_mask;
1206 st->adis.burst = &adis16400_burst;
1207 if (st->variant->flags & ADIS16400_BURST_DIAG_STAT)
1208 st->adis.burst->extra_len = sizeof(u16);
1211 adis16400_data = adis16400_adis_data_alloc(st, &spi->dev);
1212 if (IS_ERR(adis16400_data))
1213 return PTR_ERR(adis16400_data);
1215 ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
1219 ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev,
1220 adis16400_trigger_handler);
1224 /* Get the device into a sane initial state */
1225 ret = adis16400_initial_setup(indio_dev);
1227 goto error_cleanup_buffer;
1228 ret = iio_device_register(indio_dev);
1230 goto error_cleanup_buffer;
1232 adis16400_debugfs_init(indio_dev);
1235 error_cleanup_buffer:
1236 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1240 static int adis16400_remove(struct spi_device *spi)
1242 struct iio_dev *indio_dev = spi_get_drvdata(spi);
1243 struct adis16400_state *st = iio_priv(indio_dev);
1245 iio_device_unregister(indio_dev);
1246 adis16400_stop_device(indio_dev);
1248 adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
1253 static const struct spi_device_id adis16400_id[] = {
1254 {"adis16300", ADIS16300},
1255 {"adis16305", ADIS16300},
1256 {"adis16334", ADIS16334},
1257 {"adis16350", ADIS16350},
1258 {"adis16354", ADIS16350},
1259 {"adis16355", ADIS16350},
1260 {"adis16360", ADIS16360},
1261 {"adis16362", ADIS16362},
1262 {"adis16364", ADIS16364},
1263 {"adis16365", ADIS16360},
1264 {"adis16367", ADIS16367},
1265 {"adis16400", ADIS16400},
1266 {"adis16405", ADIS16400},
1267 {"adis16445", ADIS16445},
1268 {"adis16448", ADIS16448},
1271 MODULE_DEVICE_TABLE(spi, adis16400_id);
1273 static struct spi_driver adis16400_driver = {
1275 .name = "adis16400",
1277 .id_table = adis16400_id,
1278 .probe = adis16400_probe,
1279 .remove = adis16400_remove,
1281 module_spi_driver(adis16400_driver);
1283 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1284 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1285 MODULE_LICENSE("GPL v2");