2 * adis16400.c support Analog Devices ADIS16400/5
3 * 3d 2g Linear Accelerometers,
5 * 3d Magnetometers via SPI
7 * Copyright (c) 2009 Manuel Stahl <manuel.stahl@iis.fraunhofer.de>
8 * Copyright (c) 2007 Jonathan Cameron <jic23@kernel.org>
9 * Copyright (c) 2011 Analog Devices Inc.
11 * This program is free software; you can redistribute it and/or modify
12 * it under the terms of the GNU General Public License version 2 as
13 * published by the Free Software Foundation.
17 #include <linux/interrupt.h>
18 #include <linux/irq.h>
19 #include <linux/delay.h>
20 #include <linux/mutex.h>
21 #include <linux/device.h>
22 #include <linux/kernel.h>
23 #include <linux/spi/spi.h>
24 #include <linux/slab.h>
25 #include <linux/sysfs.h>
26 #include <linux/list.h>
27 #include <linux/module.h>
29 #include <linux/iio/iio.h>
30 #include <linux/iio/sysfs.h>
31 #include <linux/iio/buffer.h>
32 #include "adis16400.h"
34 enum adis16400_chip_variant {
46 * adis16400_spi_write_reg_8() - write single byte to a register
47 * @dev: device associated with child of actual device (iio_dev or iio_trig)
48 * @reg_address: the address of the register to be written
49 * @val: the value to write
51 static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
56 struct adis16400_state *st = iio_priv(indio_dev);
58 mutex_lock(&st->buf_lock);
59 st->tx[0] = ADIS16400_WRITE_REG(reg_address);
62 ret = spi_write(st->us, st->tx, 2);
63 mutex_unlock(&st->buf_lock);
69 * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
70 * @dev: device associated with child of actual device (iio_dev or iio_trig)
71 * @reg_address: the address of the lower of the two registers. Second register
72 * is assumed to have address one greater.
73 * @val: value to be written
75 * At the moment the spi framework doesn't allow global setting of cs_change.
76 * This means that use cannot be made of spi_write.
78 static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
83 struct spi_message msg;
84 struct adis16400_state *st = iio_priv(indio_dev);
85 struct spi_transfer xfers[] = {
98 mutex_lock(&st->buf_lock);
99 st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
100 st->tx[1] = value & 0xFF;
101 st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
102 st->tx[3] = (value >> 8) & 0xFF;
104 spi_message_init(&msg);
105 spi_message_add_tail(&xfers[0], &msg);
106 spi_message_add_tail(&xfers[1], &msg);
107 ret = spi_sync(st->us, &msg);
108 mutex_unlock(&st->buf_lock);
114 * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
115 * @indio_dev: iio device
116 * @reg_address: the address of the lower of the two registers. Second register
117 * is assumed to have address one greater.
118 * @val: somewhere to pass back the value read
120 * At the moment the spi framework doesn't allow global setting of cs_change.
121 * This means that use cannot be made of spi_read.
123 static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
124 u8 lower_reg_address,
127 struct spi_message msg;
128 struct adis16400_state *st = iio_priv(indio_dev);
130 struct spi_transfer xfers[] = {
143 mutex_lock(&st->buf_lock);
144 st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
147 spi_message_init(&msg);
148 spi_message_add_tail(&xfers[0], &msg);
149 spi_message_add_tail(&xfers[1], &msg);
150 ret = spi_sync(st->us, &msg);
152 dev_err(&st->us->dev,
153 "problem when reading 16 bit register 0x%02X",
157 *val = (st->rx[0] << 8) | st->rx[1];
160 mutex_unlock(&st->buf_lock);
164 static int adis16400_get_freq(struct iio_dev *indio_dev)
169 ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
172 sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
173 sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;
178 static ssize_t adis16400_read_frequency(struct device *dev,
179 struct device_attribute *attr,
182 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
184 ret = adis16400_get_freq(indio_dev);
187 len = sprintf(buf, "%d SPS\n", ret);
191 static const unsigned adis16400_3db_divisors[] = {
192 [0] = 2, /* Special case */
199 static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
203 for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 0; i--)
204 if (sps/adis16400_3db_divisors[i] > val)
209 ret = adis16400_spi_read_reg_16(indio_dev,
215 ret = adis16400_spi_write_reg_16(indio_dev,
217 (val16 & ~0x03) | i);
223 static ssize_t adis16400_write_frequency(struct device *dev,
224 struct device_attribute *attr,
228 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
229 struct adis16400_state *st = iio_priv(indio_dev);
234 ret = strict_strtol(buf, 10, &val);
240 mutex_lock(&indio_dev->mlock);
245 t &= ADIS16400_SMPL_PRD_DIV_MASK;
246 if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
247 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
249 st->us->max_speed_hz = ADIS16400_SPI_FAST;
251 ret = adis16400_spi_write_reg_8(indio_dev,
255 /* Also update the filter */
256 mutex_unlock(&indio_dev->mlock);
258 return ret ? ret : len;
261 static int adis16400_reset(struct iio_dev *indio_dev)
264 ret = adis16400_spi_write_reg_8(indio_dev,
266 ADIS16400_GLOB_CMD_SW_RESET);
268 dev_err(&indio_dev->dev, "problem resetting device");
273 int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
278 ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
282 msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
284 msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
286 msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
288 ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
296 /* Power down the device */
297 static int adis16400_stop_device(struct iio_dev *indio_dev)
300 u16 val = ADIS16400_SLP_CNT_POWER_OFF;
302 ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
304 dev_err(&indio_dev->dev,
305 "problem with turning device off: SLP_CNT");
310 static int adis16400_check_status(struct iio_dev *indio_dev)
314 struct device *dev = &indio_dev->dev;
316 ret = adis16400_spi_read_reg_16(indio_dev,
317 ADIS16400_DIAG_STAT, &status);
320 dev_err(dev, "Reading status failed\n");
324 if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
325 dev_err(dev, "Z-axis accelerometer self-test failure\n");
326 if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
327 dev_err(dev, "Y-axis accelerometer self-test failure\n");
328 if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
329 dev_err(dev, "X-axis accelerometer self-test failure\n");
330 if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
331 dev_err(dev, "X-axis gyroscope self-test failure\n");
332 if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
333 dev_err(dev, "Y-axis gyroscope self-test failure\n");
334 if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
335 dev_err(dev, "Z-axis gyroscope self-test failure\n");
336 if (status & ADIS16400_DIAG_STAT_ALARM2)
337 dev_err(dev, "Alarm 2 active\n");
338 if (status & ADIS16400_DIAG_STAT_ALARM1)
339 dev_err(dev, "Alarm 1 active\n");
340 if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
341 dev_err(dev, "Flash checksum error\n");
342 if (status & ADIS16400_DIAG_STAT_SELF_TEST)
343 dev_err(dev, "Self test error\n");
344 if (status & ADIS16400_DIAG_STAT_OVERFLOW)
345 dev_err(dev, "Sensor overrange\n");
346 if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
347 dev_err(dev, "SPI failure\n");
348 if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
349 dev_err(dev, "Flash update failed\n");
350 if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
351 dev_err(dev, "Power supply above 5.25V\n");
352 if (status & ADIS16400_DIAG_STAT_POWER_LOW)
353 dev_err(dev, "Power supply below 4.75V\n");
359 static int adis16400_self_test(struct iio_dev *indio_dev)
362 ret = adis16400_spi_write_reg_16(indio_dev,
364 ADIS16400_MSC_CTRL_MEM_TEST);
366 dev_err(&indio_dev->dev, "problem starting self test");
370 msleep(ADIS16400_MTEST_DELAY);
371 adis16400_check_status(indio_dev);
377 static int adis16400_initial_setup(struct iio_dev *indio_dev)
380 u16 prod_id, smp_prd;
381 struct adis16400_state *st = iio_priv(indio_dev);
383 /* use low spi speed for init */
384 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
385 st->us->mode = SPI_MODE_3;
388 ret = adis16400_set_irq(indio_dev, false);
390 dev_err(&indio_dev->dev, "disable irq failed");
394 ret = adis16400_self_test(indio_dev);
396 dev_err(&indio_dev->dev, "self test failure");
400 ret = adis16400_check_status(indio_dev);
402 adis16400_reset(indio_dev);
403 dev_err(&indio_dev->dev, "device not playing ball -> reset");
404 msleep(ADIS16400_STARTUP_DELAY);
405 ret = adis16400_check_status(indio_dev);
407 dev_err(&indio_dev->dev, "giving up");
411 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
412 ret = adis16400_spi_read_reg_16(indio_dev,
413 ADIS16400_PRODUCT_ID, &prod_id);
417 if ((prod_id & 0xF000) != st->variant->product_id)
418 dev_warn(&indio_dev->dev, "incorrect id");
420 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
421 indio_dev->name, prod_id,
422 st->us->chip_select, st->us->irq);
424 /* use high spi speed if possible */
425 ret = adis16400_spi_read_reg_16(indio_dev,
426 ADIS16400_SMPL_PRD, &smp_prd);
427 if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
428 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
436 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
437 adis16400_read_frequency,
438 adis16400_write_frequency);
440 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
442 enum adis16400_chan {
461 static u8 adis16400_addresses[18][2] = {
462 [in_supply] = { ADIS16400_SUPPLY_OUT },
463 [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
464 [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
465 [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
466 [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
467 [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
468 [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
469 [magn_x] = { ADIS16400_XMAGN_OUT },
470 [magn_y] = { ADIS16400_YMAGN_OUT },
471 [magn_z] = { ADIS16400_ZMAGN_OUT },
472 [temp] = { ADIS16400_TEMP_OUT },
473 [temp0] = { ADIS16350_XTEMP_OUT },
474 [temp1] = { ADIS16350_YTEMP_OUT },
475 [temp2] = { ADIS16350_ZTEMP_OUT },
476 [in1] = { ADIS16300_AUX_ADC },
477 [in2] = { ADIS16400_AUX_ADC },
478 [incli_x] = { ADIS16300_PITCH_OUT },
479 [incli_y] = { ADIS16300_ROLL_OUT }
483 static int adis16400_write_raw(struct iio_dev *indio_dev,
484 struct iio_chan_spec const *chan,
489 struct adis16400_state *st = iio_priv(indio_dev);
493 case IIO_CHAN_INFO_CALIBBIAS:
494 mutex_lock(&indio_dev->mlock);
495 ret = adis16400_spi_write_reg_16(indio_dev,
496 adis16400_addresses[chan->address][1],
498 mutex_unlock(&indio_dev->mlock);
500 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
501 /* Need to cache values so we can update if the frequency
503 mutex_lock(&indio_dev->mlock);
505 /* Work out update to current value */
506 sps = adis16400_get_freq(indio_dev);
508 mutex_unlock(&indio_dev->mlock);
512 ret = adis16400_set_filter(indio_dev, sps, val);
513 mutex_unlock(&indio_dev->mlock);
520 static int adis16400_read_raw(struct iio_dev *indio_dev,
521 struct iio_chan_spec const *chan,
526 struct adis16400_state *st = iio_priv(indio_dev);
531 case IIO_CHAN_INFO_RAW:
532 mutex_lock(&indio_dev->mlock);
533 ret = adis16400_spi_read_reg_16(indio_dev,
534 adis16400_addresses[chan->address][0],
537 mutex_unlock(&indio_dev->mlock);
540 val16 &= (1 << chan->scan_type.realbits) - 1;
541 if (chan->scan_type.sign == 's') {
542 shift = 16 - chan->scan_type.realbits;
543 val16 = (s16)(val16 << shift) >> shift;
546 mutex_unlock(&indio_dev->mlock);
548 case IIO_CHAN_INFO_SCALE:
549 switch (chan->type) {
552 *val2 = st->variant->gyro_scale_micro;
553 return IIO_VAL_INT_PLUS_MICRO;
556 if (chan->channel == 0) {
558 *val2 = 418000; /* 2.418 mV */
561 *val2 = 805800; /* 805.8 uV */
563 return IIO_VAL_INT_PLUS_MICRO;
566 *val2 = st->variant->accel_scale_micro;
567 return IIO_VAL_INT_PLUS_MICRO;
570 *val2 = 500; /* 0.5 mgauss */
571 return IIO_VAL_INT_PLUS_MICRO;
573 *val = st->variant->temp_scale_nano / 1000000;
574 *val2 = (st->variant->temp_scale_nano % 1000000);
575 return IIO_VAL_INT_PLUS_MICRO;
579 case IIO_CHAN_INFO_CALIBBIAS:
580 mutex_lock(&indio_dev->mlock);
581 ret = adis16400_spi_read_reg_16(indio_dev,
582 adis16400_addresses[chan->address][1],
584 mutex_unlock(&indio_dev->mlock);
587 val16 = ((val16 & 0xFFF) << 4) >> 4;
590 case IIO_CHAN_INFO_OFFSET:
591 /* currently only temperature */
592 *val = st->variant->temp_offset;
594 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
595 mutex_lock(&indio_dev->mlock);
596 /* Need both the number of taps and the sampling frequency */
597 ret = adis16400_spi_read_reg_16(indio_dev,
601 mutex_unlock(&indio_dev->mlock);
604 ret = adis16400_get_freq(indio_dev);
606 *val = ret/adis16400_3db_divisors[val16 & 0x03];
608 mutex_unlock(&indio_dev->mlock);
611 return IIO_VAL_INT_PLUS_MICRO;
617 static const struct iio_chan_spec adis16400_channels[] = {
622 .extend_name = "supply",
623 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
624 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
625 .address = in_supply,
626 .scan_index = ADIS16400_SCAN_SUPPLY,
627 .scan_type = IIO_ST('u', 14, 16, 0)
629 .type = IIO_ANGL_VEL,
631 .channel2 = IIO_MOD_X,
632 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
633 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
634 IIO_CHAN_INFO_SCALE_SHARED_BIT |
635 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
637 .scan_index = ADIS16400_SCAN_GYRO_X,
638 .scan_type = IIO_ST('s', 14, 16, 0)
640 .type = IIO_ANGL_VEL,
642 .channel2 = IIO_MOD_Y,
643 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
644 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
645 IIO_CHAN_INFO_SCALE_SHARED_BIT |
646 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
648 .scan_index = ADIS16400_SCAN_GYRO_Y,
649 .scan_type = IIO_ST('s', 14, 16, 0),
651 .type = IIO_ANGL_VEL,
653 .channel2 = IIO_MOD_Z,
654 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
655 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
656 IIO_CHAN_INFO_SCALE_SHARED_BIT |
657 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
659 .scan_index = ADIS16400_SCAN_GYRO_Z,
660 .scan_type = IIO_ST('s', 14, 16, 0),
664 .channel2 = IIO_MOD_X,
665 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
666 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
667 IIO_CHAN_INFO_SCALE_SHARED_BIT |
668 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
670 .scan_index = ADIS16400_SCAN_ACC_X,
671 .scan_type = IIO_ST('s', 14, 16, 0),
675 .channel2 = IIO_MOD_Y,
676 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
677 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
678 IIO_CHAN_INFO_SCALE_SHARED_BIT |
679 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
681 .scan_index = ADIS16400_SCAN_ACC_Y,
682 .scan_type = IIO_ST('s', 14, 16, 0),
686 .channel2 = IIO_MOD_Z,
687 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
688 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
689 IIO_CHAN_INFO_SCALE_SHARED_BIT |
690 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
692 .scan_index = ADIS16400_SCAN_ACC_Z,
693 .scan_type = IIO_ST('s', 14, 16, 0),
697 .channel2 = IIO_MOD_X,
698 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
699 IIO_CHAN_INFO_SCALE_SHARED_BIT |
700 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
702 .scan_index = ADIS16400_SCAN_MAGN_X,
703 .scan_type = IIO_ST('s', 14, 16, 0),
707 .channel2 = IIO_MOD_Y,
708 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
709 IIO_CHAN_INFO_SCALE_SHARED_BIT |
710 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
712 .scan_index = ADIS16400_SCAN_MAGN_Y,
713 .scan_type = IIO_ST('s', 14, 16, 0),
717 .channel2 = IIO_MOD_Z,
718 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
719 IIO_CHAN_INFO_SCALE_SHARED_BIT |
720 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
722 .scan_index = ADIS16400_SCAN_MAGN_Z,
723 .scan_type = IIO_ST('s', 14, 16, 0),
728 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
729 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
730 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
732 .scan_index = ADIS16400_SCAN_TEMP,
733 .scan_type = IIO_ST('s', 12, 16, 0),
738 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
739 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
741 .scan_index = ADIS16400_SCAN_ADC_0,
742 .scan_type = IIO_ST('s', 12, 16, 0),
744 IIO_CHAN_SOFT_TIMESTAMP(12)
747 static const struct iio_chan_spec adis16350_channels[] = {
752 .extend_name = "supply",
753 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
754 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
755 .address = in_supply,
756 .scan_index = ADIS16400_SCAN_SUPPLY,
757 .scan_type = IIO_ST('u', 12, 16, 0)
759 .type = IIO_ANGL_VEL,
761 .channel2 = IIO_MOD_X,
762 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
763 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
764 IIO_CHAN_INFO_SCALE_SHARED_BIT |
765 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
767 .scan_index = ADIS16400_SCAN_GYRO_X,
768 .scan_type = IIO_ST('s', 14, 16, 0)
770 .type = IIO_ANGL_VEL,
772 .channel2 = IIO_MOD_Y,
773 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
774 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
775 IIO_CHAN_INFO_SCALE_SHARED_BIT |
776 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
778 .scan_index = ADIS16400_SCAN_GYRO_Y,
779 .scan_type = IIO_ST('s', 14, 16, 0),
781 .type = IIO_ANGL_VEL,
783 .channel2 = IIO_MOD_Z,
784 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
785 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
786 IIO_CHAN_INFO_SCALE_SHARED_BIT |
787 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
789 .scan_index = ADIS16400_SCAN_GYRO_Z,
790 .scan_type = IIO_ST('s', 14, 16, 0),
794 .channel2 = IIO_MOD_X,
795 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
796 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
797 IIO_CHAN_INFO_SCALE_SHARED_BIT |
798 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
800 .scan_index = ADIS16400_SCAN_ACC_X,
801 .scan_type = IIO_ST('s', 14, 16, 0),
805 .channel2 = IIO_MOD_Y,
806 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
807 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
808 IIO_CHAN_INFO_SCALE_SHARED_BIT |
809 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
811 .scan_index = ADIS16400_SCAN_ACC_Y,
812 .scan_type = IIO_ST('s', 14, 16, 0),
816 .channel2 = IIO_MOD_Z,
817 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
818 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
819 IIO_CHAN_INFO_SCALE_SHARED_BIT |
820 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
822 .scan_index = ADIS16400_SCAN_ACC_Z,
823 .scan_type = IIO_ST('s', 14, 16, 0),
829 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
830 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
831 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
832 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
834 .scan_index = ADIS16350_SCAN_TEMP_X,
835 .scan_type = IIO_ST('s', 12, 16, 0),
841 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
842 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
843 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
844 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
846 .scan_index = ADIS16350_SCAN_TEMP_Y,
847 .scan_type = IIO_ST('s', 12, 16, 0),
853 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
854 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
855 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
857 .scan_index = ADIS16350_SCAN_TEMP_Z,
858 .scan_type = IIO_ST('s', 12, 16, 0),
863 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
864 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
866 .scan_index = ADIS16350_SCAN_ADC_0,
867 .scan_type = IIO_ST('s', 12, 16, 0),
869 IIO_CHAN_SOFT_TIMESTAMP(11)
872 static const struct iio_chan_spec adis16300_channels[] = {
877 .extend_name = "supply",
878 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
879 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
880 .address = in_supply,
881 .scan_index = ADIS16400_SCAN_SUPPLY,
882 .scan_type = IIO_ST('u', 12, 16, 0)
884 .type = IIO_ANGL_VEL,
886 .channel2 = IIO_MOD_X,
887 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
888 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
889 IIO_CHAN_INFO_SCALE_SHARED_BIT |
890 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
892 .scan_index = ADIS16400_SCAN_GYRO_X,
893 .scan_type = IIO_ST('s', 14, 16, 0),
897 .channel2 = IIO_MOD_X,
898 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
899 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
900 IIO_CHAN_INFO_SCALE_SHARED_BIT |
901 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
903 .scan_index = ADIS16400_SCAN_ACC_X,
904 .scan_type = IIO_ST('s', 14, 16, 0),
908 .channel2 = IIO_MOD_Y,
909 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
910 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
911 IIO_CHAN_INFO_SCALE_SHARED_BIT |
912 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
914 .scan_index = ADIS16400_SCAN_ACC_Y,
915 .scan_type = IIO_ST('s', 14, 16, 0),
919 .channel2 = IIO_MOD_Z,
920 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
921 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
922 IIO_CHAN_INFO_SCALE_SHARED_BIT |
923 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
925 .scan_index = ADIS16400_SCAN_ACC_Z,
926 .scan_type = IIO_ST('s', 14, 16, 0),
931 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
932 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
933 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
935 .scan_index = ADIS16400_SCAN_TEMP,
936 .scan_type = IIO_ST('s', 12, 16, 0),
941 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
942 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
944 .scan_index = ADIS16350_SCAN_ADC_0,
945 .scan_type = IIO_ST('s', 12, 16, 0),
949 .channel2 = IIO_MOD_X,
950 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
951 IIO_CHAN_INFO_SCALE_SHARED_BIT,
953 .scan_index = ADIS16300_SCAN_INCLI_X,
954 .scan_type = IIO_ST('s', 13, 16, 0),
958 .channel2 = IIO_MOD_Y,
959 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
960 IIO_CHAN_INFO_SCALE_SHARED_BIT,
962 .scan_index = ADIS16300_SCAN_INCLI_Y,
963 .scan_type = IIO_ST('s', 13, 16, 0),
965 IIO_CHAN_SOFT_TIMESTAMP(14)
968 static const struct iio_chan_spec adis16334_channels[] = {
970 .type = IIO_ANGL_VEL,
972 .channel2 = IIO_MOD_X,
973 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
974 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
975 IIO_CHAN_INFO_SCALE_SHARED_BIT |
976 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
978 .scan_index = ADIS16400_SCAN_GYRO_X,
979 .scan_type = IIO_ST('s', 14, 16, 0),
981 .type = IIO_ANGL_VEL,
983 .channel2 = IIO_MOD_Y,
984 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
985 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
986 IIO_CHAN_INFO_SCALE_SHARED_BIT |
987 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
989 .scan_index = ADIS16400_SCAN_GYRO_Y,
990 .scan_type = IIO_ST('s', 14, 16, 0),
992 .type = IIO_ANGL_VEL,
994 .channel2 = IIO_MOD_Z,
995 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
996 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
997 IIO_CHAN_INFO_SCALE_SHARED_BIT |
998 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
1000 .scan_index = ADIS16400_SCAN_GYRO_Z,
1001 .scan_type = IIO_ST('s', 14, 16, 0),
1005 .channel2 = IIO_MOD_X,
1006 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
1007 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
1008 IIO_CHAN_INFO_SCALE_SHARED_BIT |
1009 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
1011 .scan_index = ADIS16400_SCAN_ACC_X,
1012 .scan_type = IIO_ST('s', 14, 16, 0),
1016 .channel2 = IIO_MOD_Y,
1017 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
1018 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
1019 IIO_CHAN_INFO_SCALE_SHARED_BIT |
1020 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
1022 .scan_index = ADIS16400_SCAN_ACC_Y,
1023 .scan_type = IIO_ST('s', 14, 16, 0),
1027 .channel2 = IIO_MOD_Z,
1028 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
1029 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
1030 IIO_CHAN_INFO_SCALE_SHARED_BIT |
1031 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
1033 .scan_index = ADIS16400_SCAN_ACC_Z,
1034 .scan_type = IIO_ST('s', 14, 16, 0),
1039 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
1040 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
1041 IIO_CHAN_INFO_SCALE_SHARED_BIT,
1043 .scan_index = ADIS16400_SCAN_TEMP,
1044 .scan_type = IIO_ST('s', 14, 16, 0),
1046 IIO_CHAN_SOFT_TIMESTAMP(12)
1049 static struct attribute *adis16400_attributes[] = {
1050 &iio_dev_attr_sampling_frequency.dev_attr.attr,
1051 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
1055 static const struct attribute_group adis16400_attribute_group = {
1056 .attrs = adis16400_attributes,
1059 static struct adis16400_chip_info adis16400_chips[] = {
1061 .channels = adis16300_channels,
1062 .num_channels = ARRAY_SIZE(adis16300_channels),
1063 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1064 .accel_scale_micro = 5884,
1065 .temp_scale_nano = 140000000, /* 0.14 C */
1066 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1067 .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) |
1068 (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) |
1069 (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) |
1070 (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) |
1071 (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) |
1075 .channels = adis16334_channels,
1076 .num_channels = ARRAY_SIZE(adis16334_channels),
1077 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1078 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1079 .temp_scale_nano = 67850000, /* 0.06785 C */
1080 .temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
1081 .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) |
1082 (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) |
1083 (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) |
1084 (1 << ADIS16400_SCAN_ACC_Z),
1087 .channels = adis16350_channels,
1088 .num_channels = ARRAY_SIZE(adis16350_channels),
1089 .gyro_scale_micro = IIO_DEGREE_TO_RAD(73260), /* 0.07326 deg/s */
1090 .accel_scale_micro = IIO_G_TO_M_S_2(2522), /* 0.002522 g */
1091 .temp_scale_nano = 145300000, /* 0.1453 C */
1092 .temp_offset = 25000000 / 145300, /* 25 C = 0x00 */
1093 .default_scan_mask = 0x7FF,
1094 .flags = ADIS16400_NO_BURST,
1097 .channels = adis16350_channels,
1098 .num_channels = ARRAY_SIZE(adis16350_channels),
1099 .flags = ADIS16400_HAS_PROD_ID,
1100 .product_id = 0x3FE8,
1101 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1102 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1103 .temp_scale_nano = 136000000, /* 0.136 C */
1104 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1105 .default_scan_mask = 0x7FF,
1108 .channels = adis16350_channels,
1109 .num_channels = ARRAY_SIZE(adis16350_channels),
1110 .flags = ADIS16400_HAS_PROD_ID,
1111 .product_id = 0x3FEA,
1112 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1113 .accel_scale_micro = IIO_G_TO_M_S_2(333), /* 0.333 mg */
1114 .temp_scale_nano = 136000000, /* 0.136 C */
1115 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1116 .default_scan_mask = 0x7FF,
1119 .channels = adis16350_channels,
1120 .num_channels = ARRAY_SIZE(adis16350_channels),
1121 .flags = ADIS16400_HAS_PROD_ID,
1122 .product_id = 0x3FEC,
1123 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1124 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1125 .temp_scale_nano = 136000000, /* 0.136 C */
1126 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1127 .default_scan_mask = 0x7FF,
1130 .channels = adis16350_channels,
1131 .num_channels = ARRAY_SIZE(adis16350_channels),
1132 .flags = ADIS16400_HAS_PROD_ID,
1133 .product_id = 0x3FED,
1134 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1135 .accel_scale_micro = IIO_G_TO_M_S_2(1000), /* 1 mg */
1136 .temp_scale_nano = 136000000, /* 0.136 C */
1137 .temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
1138 .default_scan_mask = 0x7FF,
1141 .channels = adis16400_channels,
1142 .num_channels = ARRAY_SIZE(adis16400_channels),
1143 .flags = ADIS16400_HAS_PROD_ID,
1144 .product_id = 0x4015,
1145 .gyro_scale_micro = IIO_DEGREE_TO_RAD(50000), /* 0.05 deg/s */
1146 .accel_scale_micro = IIO_G_TO_M_S_2(3333), /* 3.333 mg */
1147 .default_scan_mask = 0xFFF,
1148 .temp_scale_nano = 140000000, /* 0.14 C */
1149 .temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
1153 static const struct iio_info adis16400_info = {
1154 .driver_module = THIS_MODULE,
1155 .read_raw = &adis16400_read_raw,
1156 .write_raw = &adis16400_write_raw,
1157 .attrs = &adis16400_attribute_group,
1160 static int __devinit adis16400_probe(struct spi_device *spi)
1163 struct adis16400_state *st;
1164 struct iio_dev *indio_dev = iio_device_alloc(sizeof(*st));
1165 if (indio_dev == NULL) {
1169 st = iio_priv(indio_dev);
1170 /* this is only used for removal purposes */
1171 spi_set_drvdata(spi, indio_dev);
1174 mutex_init(&st->buf_lock);
1176 /* setup the industrialio driver allocated elements */
1177 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1178 indio_dev->dev.parent = &spi->dev;
1179 indio_dev->name = spi_get_device_id(spi)->name;
1180 indio_dev->channels = st->variant->channels;
1181 indio_dev->num_channels = st->variant->num_channels;
1182 indio_dev->info = &adis16400_info;
1183 indio_dev->modes = INDIO_DIRECT_MODE;
1185 ret = adis16400_configure_ring(indio_dev);
1187 goto error_free_dev;
1189 ret = iio_buffer_register(indio_dev,
1190 st->variant->channels,
1191 st->variant->num_channels);
1193 dev_err(&spi->dev, "failed to initialize the ring\n");
1194 goto error_unreg_ring_funcs;
1198 ret = adis16400_probe_trigger(indio_dev);
1200 goto error_uninitialize_ring;
1203 /* Get the device into a sane initial state */
1204 ret = adis16400_initial_setup(indio_dev);
1206 goto error_remove_trigger;
1207 ret = iio_device_register(indio_dev);
1209 goto error_remove_trigger;
1213 error_remove_trigger:
1215 adis16400_remove_trigger(indio_dev);
1216 error_uninitialize_ring:
1217 iio_buffer_unregister(indio_dev);
1218 error_unreg_ring_funcs:
1219 adis16400_unconfigure_ring(indio_dev);
1221 iio_device_free(indio_dev);
1226 /* fixme, confirm ordering in this function */
1227 static int __devexit adis16400_remove(struct spi_device *spi)
1229 struct iio_dev *indio_dev = spi_get_drvdata(spi);
1231 iio_device_unregister(indio_dev);
1232 adis16400_stop_device(indio_dev);
1234 adis16400_remove_trigger(indio_dev);
1235 iio_buffer_unregister(indio_dev);
1236 adis16400_unconfigure_ring(indio_dev);
1237 iio_device_free(indio_dev);
1242 static const struct spi_device_id adis16400_id[] = {
1243 {"adis16300", ADIS16300},
1244 {"adis16334", ADIS16334},
1245 {"adis16350", ADIS16350},
1246 {"adis16354", ADIS16350},
1247 {"adis16355", ADIS16350},
1248 {"adis16360", ADIS16360},
1249 {"adis16362", ADIS16362},
1250 {"adis16364", ADIS16364},
1251 {"adis16365", ADIS16365},
1252 {"adis16400", ADIS16400},
1253 {"adis16405", ADIS16400},
1256 MODULE_DEVICE_TABLE(spi, adis16400_id);
1258 static struct spi_driver adis16400_driver = {
1260 .name = "adis16400",
1261 .owner = THIS_MODULE,
1263 .id_table = adis16400_id,
1264 .probe = adis16400_probe,
1265 .remove = __devexit_p(adis16400_remove),
1267 module_spi_driver(adis16400_driver);
1269 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1270 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1271 MODULE_LICENSE("GPL v2");