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@cam.ac.uk>
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);
238 mutex_lock(&indio_dev->mlock);
243 t &= ADIS16400_SMPL_PRD_DIV_MASK;
244 if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
245 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
247 st->us->max_speed_hz = ADIS16400_SPI_FAST;
249 ret = adis16400_spi_write_reg_8(indio_dev,
253 /* Also update the filter */
254 mutex_unlock(&indio_dev->mlock);
256 return ret ? ret : len;
259 static int adis16400_reset(struct iio_dev *indio_dev)
262 ret = adis16400_spi_write_reg_8(indio_dev,
264 ADIS16400_GLOB_CMD_SW_RESET);
266 dev_err(&indio_dev->dev, "problem resetting device");
271 int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
276 ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
280 msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
282 msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
284 msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
286 ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
294 /* Power down the device */
295 static int adis16400_stop_device(struct iio_dev *indio_dev)
298 u16 val = ADIS16400_SLP_CNT_POWER_OFF;
300 ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
302 dev_err(&indio_dev->dev,
303 "problem with turning device off: SLP_CNT");
308 static int adis16400_check_status(struct iio_dev *indio_dev)
312 struct device *dev = &indio_dev->dev;
314 ret = adis16400_spi_read_reg_16(indio_dev,
315 ADIS16400_DIAG_STAT, &status);
318 dev_err(dev, "Reading status failed\n");
322 if (status & ADIS16400_DIAG_STAT_ZACCL_FAIL)
323 dev_err(dev, "Z-axis accelerometer self-test failure\n");
324 if (status & ADIS16400_DIAG_STAT_YACCL_FAIL)
325 dev_err(dev, "Y-axis accelerometer self-test failure\n");
326 if (status & ADIS16400_DIAG_STAT_XACCL_FAIL)
327 dev_err(dev, "X-axis accelerometer self-test failure\n");
328 if (status & ADIS16400_DIAG_STAT_XGYRO_FAIL)
329 dev_err(dev, "X-axis gyroscope self-test failure\n");
330 if (status & ADIS16400_DIAG_STAT_YGYRO_FAIL)
331 dev_err(dev, "Y-axis gyroscope self-test failure\n");
332 if (status & ADIS16400_DIAG_STAT_ZGYRO_FAIL)
333 dev_err(dev, "Z-axis gyroscope self-test failure\n");
334 if (status & ADIS16400_DIAG_STAT_ALARM2)
335 dev_err(dev, "Alarm 2 active\n");
336 if (status & ADIS16400_DIAG_STAT_ALARM1)
337 dev_err(dev, "Alarm 1 active\n");
338 if (status & ADIS16400_DIAG_STAT_FLASH_CHK)
339 dev_err(dev, "Flash checksum error\n");
340 if (status & ADIS16400_DIAG_STAT_SELF_TEST)
341 dev_err(dev, "Self test error\n");
342 if (status & ADIS16400_DIAG_STAT_OVERFLOW)
343 dev_err(dev, "Sensor overrange\n");
344 if (status & ADIS16400_DIAG_STAT_SPI_FAIL)
345 dev_err(dev, "SPI failure\n");
346 if (status & ADIS16400_DIAG_STAT_FLASH_UPT)
347 dev_err(dev, "Flash update failed\n");
348 if (status & ADIS16400_DIAG_STAT_POWER_HIGH)
349 dev_err(dev, "Power supply above 5.25V\n");
350 if (status & ADIS16400_DIAG_STAT_POWER_LOW)
351 dev_err(dev, "Power supply below 4.75V\n");
357 static int adis16400_self_test(struct iio_dev *indio_dev)
360 ret = adis16400_spi_write_reg_16(indio_dev,
362 ADIS16400_MSC_CTRL_MEM_TEST);
364 dev_err(&indio_dev->dev, "problem starting self test");
368 msleep(ADIS16400_MTEST_DELAY);
369 adis16400_check_status(indio_dev);
375 static int adis16400_initial_setup(struct iio_dev *indio_dev)
378 u16 prod_id, smp_prd;
379 struct adis16400_state *st = iio_priv(indio_dev);
381 /* use low spi speed for init */
382 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
383 st->us->mode = SPI_MODE_3;
386 ret = adis16400_set_irq(indio_dev, false);
388 dev_err(&indio_dev->dev, "disable irq failed");
392 ret = adis16400_self_test(indio_dev);
394 dev_err(&indio_dev->dev, "self test failure");
398 ret = adis16400_check_status(indio_dev);
400 adis16400_reset(indio_dev);
401 dev_err(&indio_dev->dev, "device not playing ball -> reset");
402 msleep(ADIS16400_STARTUP_DELAY);
403 ret = adis16400_check_status(indio_dev);
405 dev_err(&indio_dev->dev, "giving up");
409 if (st->variant->flags & ADIS16400_HAS_PROD_ID) {
410 ret = adis16400_spi_read_reg_16(indio_dev,
411 ADIS16400_PRODUCT_ID, &prod_id);
415 if ((prod_id & 0xF000) != st->variant->product_id)
416 dev_warn(&indio_dev->dev, "incorrect id");
418 dev_info(&indio_dev->dev, "%s: prod_id 0x%04x at CS%d (irq %d)\n",
419 indio_dev->name, prod_id,
420 st->us->chip_select, st->us->irq);
422 /* use high spi speed if possible */
423 ret = adis16400_spi_read_reg_16(indio_dev,
424 ADIS16400_SMPL_PRD, &smp_prd);
425 if (!ret && (smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
426 st->us->max_speed_hz = ADIS16400_SPI_SLOW;
434 static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
435 adis16400_read_frequency,
436 adis16400_write_frequency);
438 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("409 546 819 1638");
440 enum adis16400_chan {
459 static u8 adis16400_addresses[18][2] = {
460 [in_supply] = { ADIS16400_SUPPLY_OUT },
461 [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
462 [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
463 [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
464 [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
465 [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
466 [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
467 [magn_x] = { ADIS16400_XMAGN_OUT },
468 [magn_y] = { ADIS16400_YMAGN_OUT },
469 [magn_z] = { ADIS16400_ZMAGN_OUT },
470 [temp] = { ADIS16400_TEMP_OUT },
471 [temp0] = { ADIS16350_XTEMP_OUT },
472 [temp1] = { ADIS16350_YTEMP_OUT },
473 [temp2] = { ADIS16350_ZTEMP_OUT },
474 [in1] = { ADIS16300_AUX_ADC },
475 [in2] = { ADIS16400_AUX_ADC },
476 [incli_x] = { ADIS16300_PITCH_OUT },
477 [incli_y] = { ADIS16300_ROLL_OUT }
481 static int adis16400_write_raw(struct iio_dev *indio_dev,
482 struct iio_chan_spec const *chan,
487 struct adis16400_state *st = iio_priv(indio_dev);
491 case IIO_CHAN_INFO_CALIBBIAS:
492 mutex_lock(&indio_dev->mlock);
493 ret = adis16400_spi_write_reg_16(indio_dev,
494 adis16400_addresses[chan->address][1],
496 mutex_unlock(&indio_dev->mlock);
498 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
499 /* Need to cache values so we can update if the frequency
501 mutex_lock(&indio_dev->mlock);
503 /* Work out update to current value */
504 sps = adis16400_get_freq(indio_dev);
506 mutex_unlock(&indio_dev->mlock);
510 ret = adis16400_set_filter(indio_dev, sps, val);
511 mutex_unlock(&indio_dev->mlock);
518 static int adis16400_read_raw(struct iio_dev *indio_dev,
519 struct iio_chan_spec const *chan,
524 struct adis16400_state *st = iio_priv(indio_dev);
529 case IIO_CHAN_INFO_RAW:
530 mutex_lock(&indio_dev->mlock);
531 ret = adis16400_spi_read_reg_16(indio_dev,
532 adis16400_addresses[chan->address][0],
535 mutex_unlock(&indio_dev->mlock);
538 val16 &= (1 << chan->scan_type.realbits) - 1;
539 if (chan->scan_type.sign == 's') {
540 shift = 16 - chan->scan_type.realbits;
541 val16 = (s16)(val16 << shift) >> shift;
544 mutex_unlock(&indio_dev->mlock);
546 case IIO_CHAN_INFO_SCALE:
547 switch (chan->type) {
550 *val2 = st->variant->gyro_scale_micro;
551 return IIO_VAL_INT_PLUS_MICRO;
554 if (chan->channel == 0)
558 return IIO_VAL_INT_PLUS_MICRO;
561 *val2 = st->variant->accel_scale_micro;
562 return IIO_VAL_INT_PLUS_MICRO;
566 return IIO_VAL_INT_PLUS_MICRO;
570 return IIO_VAL_INT_PLUS_MICRO;
574 case IIO_CHAN_INFO_CALIBBIAS:
575 mutex_lock(&indio_dev->mlock);
576 ret = adis16400_spi_read_reg_16(indio_dev,
577 adis16400_addresses[chan->address][1],
579 mutex_unlock(&indio_dev->mlock);
582 val16 = ((val16 & 0xFFF) << 4) >> 4;
585 case IIO_CHAN_INFO_OFFSET:
586 /* currently only temperature */
589 return IIO_VAL_INT_PLUS_MICRO;
590 case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
591 mutex_lock(&indio_dev->mlock);
592 /* Need both the number of taps and the sampling frequency */
593 ret = adis16400_spi_read_reg_16(indio_dev,
597 mutex_unlock(&indio_dev->mlock);
600 ret = adis16400_get_freq(indio_dev);
602 *val = ret/adis16400_3db_divisors[val16 & 0x03];
604 mutex_unlock(&indio_dev->mlock);
607 return IIO_VAL_INT_PLUS_MICRO;
613 static struct iio_chan_spec adis16400_channels[] = {
618 .extend_name = "supply",
619 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
620 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
621 .address = in_supply,
622 .scan_index = ADIS16400_SCAN_SUPPLY,
623 .scan_type = IIO_ST('u', 14, 16, 0)
625 .type = IIO_ANGL_VEL,
627 .channel2 = IIO_MOD_X,
628 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
629 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
630 IIO_CHAN_INFO_SCALE_SHARED_BIT |
631 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
633 .scan_index = ADIS16400_SCAN_GYRO_X,
634 .scan_type = IIO_ST('s', 14, 16, 0)
636 .type = IIO_ANGL_VEL,
638 .channel2 = IIO_MOD_Y,
639 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
640 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
641 IIO_CHAN_INFO_SCALE_SHARED_BIT |
642 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
644 .scan_index = ADIS16400_SCAN_GYRO_Y,
645 .scan_type = IIO_ST('s', 14, 16, 0),
647 .type = IIO_ANGL_VEL,
649 .channel2 = IIO_MOD_Z,
650 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
651 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
652 IIO_CHAN_INFO_SCALE_SHARED_BIT |
653 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
655 .scan_index = ADIS16400_SCAN_GYRO_Z,
656 .scan_type = IIO_ST('s', 14, 16, 0),
660 .channel2 = IIO_MOD_X,
661 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
662 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
663 IIO_CHAN_INFO_SCALE_SHARED_BIT |
664 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
666 .scan_index = ADIS16400_SCAN_ACC_X,
667 .scan_type = IIO_ST('s', 14, 16, 0),
671 .channel2 = IIO_MOD_Y,
672 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
673 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
674 IIO_CHAN_INFO_SCALE_SHARED_BIT |
675 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
677 .scan_index = ADIS16400_SCAN_ACC_Y,
678 .scan_type = IIO_ST('s', 14, 16, 0),
682 .channel2 = IIO_MOD_Z,
683 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
684 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
685 IIO_CHAN_INFO_SCALE_SHARED_BIT |
686 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
688 .scan_index = ADIS16400_SCAN_ACC_Z,
689 .scan_type = IIO_ST('s', 14, 16, 0),
693 .channel2 = IIO_MOD_X,
694 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
695 IIO_CHAN_INFO_SCALE_SHARED_BIT |
696 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
698 .scan_index = ADIS16400_SCAN_MAGN_X,
699 .scan_type = IIO_ST('s', 14, 16, 0),
703 .channel2 = IIO_MOD_Y,
704 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
705 IIO_CHAN_INFO_SCALE_SHARED_BIT |
706 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
708 .scan_index = ADIS16400_SCAN_MAGN_Y,
709 .scan_type = IIO_ST('s', 14, 16, 0),
713 .channel2 = IIO_MOD_Z,
714 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
715 IIO_CHAN_INFO_SCALE_SHARED_BIT |
716 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
718 .scan_index = ADIS16400_SCAN_MAGN_Z,
719 .scan_type = IIO_ST('s', 14, 16, 0),
724 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
725 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
726 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
728 .scan_index = ADIS16400_SCAN_TEMP,
729 .scan_type = IIO_ST('s', 12, 16, 0),
734 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
735 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
737 .scan_index = ADIS16400_SCAN_ADC_0,
738 .scan_type = IIO_ST('s', 12, 16, 0),
740 IIO_CHAN_SOFT_TIMESTAMP(12)
743 static struct iio_chan_spec adis16350_channels[] = {
748 .extend_name = "supply",
749 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
750 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
751 .address = in_supply,
752 .scan_index = ADIS16400_SCAN_SUPPLY,
753 .scan_type = IIO_ST('u', 12, 16, 0)
755 .type = IIO_ANGL_VEL,
757 .channel2 = IIO_MOD_X,
758 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
759 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
760 IIO_CHAN_INFO_SCALE_SHARED_BIT |
761 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
763 .scan_index = ADIS16400_SCAN_GYRO_X,
764 .scan_type = IIO_ST('s', 14, 16, 0)
766 .type = IIO_ANGL_VEL,
768 .channel2 = IIO_MOD_Y,
769 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
770 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
771 IIO_CHAN_INFO_SCALE_SHARED_BIT |
772 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
774 .scan_index = ADIS16400_SCAN_GYRO_Y,
775 .scan_type = IIO_ST('s', 14, 16, 0),
777 .type = IIO_ANGL_VEL,
779 .channel2 = IIO_MOD_Z,
780 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
781 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
782 IIO_CHAN_INFO_SCALE_SHARED_BIT |
783 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
785 .scan_index = ADIS16400_SCAN_GYRO_Z,
786 .scan_type = IIO_ST('s', 14, 16, 0),
790 .channel2 = IIO_MOD_X,
791 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
792 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
793 IIO_CHAN_INFO_SCALE_SHARED_BIT |
794 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
796 .scan_index = ADIS16400_SCAN_ACC_X,
797 .scan_type = IIO_ST('s', 14, 16, 0),
801 .channel2 = IIO_MOD_Y,
802 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
803 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
804 IIO_CHAN_INFO_SCALE_SHARED_BIT |
805 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
807 .scan_index = ADIS16400_SCAN_ACC_Y,
808 .scan_type = IIO_ST('s', 14, 16, 0),
812 .channel2 = IIO_MOD_Z,
813 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
814 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
815 IIO_CHAN_INFO_SCALE_SHARED_BIT |
816 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
818 .scan_index = ADIS16400_SCAN_ACC_Z,
819 .scan_type = IIO_ST('s', 14, 16, 0),
825 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
826 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
827 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
828 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
830 .scan_index = ADIS16350_SCAN_TEMP_X,
831 .scan_type = IIO_ST('s', 12, 16, 0),
837 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
838 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
839 IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
840 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
842 .scan_index = ADIS16350_SCAN_TEMP_Y,
843 .scan_type = IIO_ST('s', 12, 16, 0),
849 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
850 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
851 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
853 .scan_index = ADIS16350_SCAN_TEMP_Z,
854 .scan_type = IIO_ST('s', 12, 16, 0),
859 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
860 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
862 .scan_index = ADIS16350_SCAN_ADC_0,
863 .scan_type = IIO_ST('s', 12, 16, 0),
865 IIO_CHAN_SOFT_TIMESTAMP(11)
868 static struct iio_chan_spec adis16300_channels[] = {
873 .extend_name = "supply",
874 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
875 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
876 .address = in_supply,
877 .scan_index = ADIS16400_SCAN_SUPPLY,
878 .scan_type = IIO_ST('u', 12, 16, 0)
880 .type = IIO_ANGL_VEL,
882 .channel2 = IIO_MOD_X,
883 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
884 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
885 IIO_CHAN_INFO_SCALE_SHARED_BIT |
886 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
888 .scan_index = ADIS16400_SCAN_GYRO_X,
889 .scan_type = IIO_ST('s', 14, 16, 0),
893 .channel2 = IIO_MOD_X,
894 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
895 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
896 IIO_CHAN_INFO_SCALE_SHARED_BIT |
897 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
899 .scan_index = ADIS16400_SCAN_ACC_X,
900 .scan_type = IIO_ST('s', 14, 16, 0),
904 .channel2 = IIO_MOD_Y,
905 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
906 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
907 IIO_CHAN_INFO_SCALE_SHARED_BIT |
908 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
910 .scan_index = ADIS16400_SCAN_ACC_Y,
911 .scan_type = IIO_ST('s', 14, 16, 0),
915 .channel2 = IIO_MOD_Z,
916 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
917 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
918 IIO_CHAN_INFO_SCALE_SHARED_BIT |
919 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
921 .scan_index = ADIS16400_SCAN_ACC_Z,
922 .scan_type = IIO_ST('s', 14, 16, 0),
927 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
928 IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
929 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
931 .scan_index = ADIS16400_SCAN_TEMP,
932 .scan_type = IIO_ST('s', 12, 16, 0),
937 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
938 IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
940 .scan_index = ADIS16350_SCAN_ADC_0,
941 .scan_type = IIO_ST('s', 12, 16, 0),
945 .channel2 = IIO_MOD_X,
946 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
947 IIO_CHAN_INFO_SCALE_SHARED_BIT,
949 .scan_index = ADIS16300_SCAN_INCLI_X,
950 .scan_type = IIO_ST('s', 13, 16, 0),
954 .channel2 = IIO_MOD_Y,
955 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
956 IIO_CHAN_INFO_SCALE_SHARED_BIT,
958 .scan_index = ADIS16300_SCAN_INCLI_Y,
959 .scan_type = IIO_ST('s', 13, 16, 0),
961 IIO_CHAN_SOFT_TIMESTAMP(14)
964 static const struct iio_chan_spec adis16334_channels[] = {
966 .type = IIO_ANGL_VEL,
968 .channel2 = IIO_MOD_X,
969 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
970 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
971 IIO_CHAN_INFO_SCALE_SHARED_BIT |
972 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
974 .scan_index = ADIS16400_SCAN_GYRO_X,
975 .scan_type = IIO_ST('s', 14, 16, 0),
977 .type = IIO_ANGL_VEL,
979 .channel2 = IIO_MOD_Y,
980 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
981 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
982 IIO_CHAN_INFO_SCALE_SHARED_BIT |
983 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
985 .scan_index = ADIS16400_SCAN_GYRO_Y,
986 .scan_type = IIO_ST('s', 14, 16, 0),
988 .type = IIO_ANGL_VEL,
990 .channel2 = IIO_MOD_Z,
991 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
992 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
993 IIO_CHAN_INFO_SCALE_SHARED_BIT |
994 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
996 .scan_index = ADIS16400_SCAN_GYRO_Z,
997 .scan_type = IIO_ST('s', 14, 16, 0),
1001 .channel2 = IIO_MOD_X,
1002 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
1003 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
1004 IIO_CHAN_INFO_SCALE_SHARED_BIT |
1005 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
1007 .scan_index = ADIS16400_SCAN_ACC_X,
1008 .scan_type = IIO_ST('s', 14, 16, 0),
1012 .channel2 = IIO_MOD_Y,
1013 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
1014 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
1015 IIO_CHAN_INFO_SCALE_SHARED_BIT |
1016 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
1018 .scan_index = ADIS16400_SCAN_ACC_Y,
1019 .scan_type = IIO_ST('s', 14, 16, 0),
1023 .channel2 = IIO_MOD_Z,
1024 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
1025 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
1026 IIO_CHAN_INFO_SCALE_SHARED_BIT |
1027 IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
1029 .scan_index = ADIS16400_SCAN_ACC_Z,
1030 .scan_type = IIO_ST('s', 14, 16, 0),
1035 .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
1036 IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
1037 IIO_CHAN_INFO_SCALE_SHARED_BIT,
1039 .scan_index = ADIS16400_SCAN_TEMP,
1040 .scan_type = IIO_ST('s', 14, 16, 0),
1042 IIO_CHAN_SOFT_TIMESTAMP(12)
1045 static struct attribute *adis16400_attributes[] = {
1046 &iio_dev_attr_sampling_frequency.dev_attr.attr,
1047 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
1051 static const struct attribute_group adis16400_attribute_group = {
1052 .attrs = adis16400_attributes,
1055 static struct adis16400_chip_info adis16400_chips[] = {
1057 .channels = adis16300_channels,
1058 .num_channels = ARRAY_SIZE(adis16300_channels),
1059 .gyro_scale_micro = 873,
1060 .accel_scale_micro = 5884,
1061 .default_scan_mask = (1 << ADIS16400_SCAN_SUPPLY) |
1062 (1 << ADIS16400_SCAN_GYRO_X) | (1 << ADIS16400_SCAN_ACC_X) |
1063 (1 << ADIS16400_SCAN_ACC_Y) | (1 << ADIS16400_SCAN_ACC_Z) |
1064 (1 << ADIS16400_SCAN_TEMP) | (1 << ADIS16400_SCAN_ADC_0) |
1065 (1 << ADIS16300_SCAN_INCLI_X) | (1 << ADIS16300_SCAN_INCLI_Y) |
1069 .channels = adis16334_channels,
1070 .num_channels = ARRAY_SIZE(adis16334_channels),
1071 .gyro_scale_micro = 873,
1072 .accel_scale_micro = 981,
1073 .default_scan_mask = (1 << ADIS16400_SCAN_GYRO_X) |
1074 (1 << ADIS16400_SCAN_GYRO_Y) | (1 << ADIS16400_SCAN_GYRO_Z) |
1075 (1 << ADIS16400_SCAN_ACC_X) | (1 << ADIS16400_SCAN_ACC_Y) |
1076 (1 << ADIS16400_SCAN_ACC_Z),
1079 .channels = adis16350_channels,
1080 .num_channels = ARRAY_SIZE(adis16350_channels),
1081 .gyro_scale_micro = 872664,
1082 .accel_scale_micro = 24732,
1083 .default_scan_mask = 0x7FF,
1084 .flags = ADIS16400_NO_BURST,
1087 .channels = adis16350_channels,
1088 .num_channels = ARRAY_SIZE(adis16350_channels),
1089 .flags = ADIS16400_HAS_PROD_ID,
1090 .product_id = 0x3FE8,
1091 .gyro_scale_micro = 1279,
1092 .accel_scale_micro = 24732,
1093 .default_scan_mask = 0x7FF,
1096 .channels = adis16350_channels,
1097 .num_channels = ARRAY_SIZE(adis16350_channels),
1098 .flags = ADIS16400_HAS_PROD_ID,
1099 .product_id = 0x3FEA,
1100 .gyro_scale_micro = 1279,
1101 .accel_scale_micro = 24732,
1102 .default_scan_mask = 0x7FF,
1105 .channels = adis16350_channels,
1106 .num_channels = ARRAY_SIZE(adis16350_channels),
1107 .flags = ADIS16400_HAS_PROD_ID,
1108 .product_id = 0x3FEC,
1109 .gyro_scale_micro = 1279,
1110 .accel_scale_micro = 24732,
1111 .default_scan_mask = 0x7FF,
1114 .channels = adis16350_channels,
1115 .num_channels = ARRAY_SIZE(adis16350_channels),
1116 .flags = ADIS16400_HAS_PROD_ID,
1117 .product_id = 0x3FED,
1118 .gyro_scale_micro = 1279,
1119 .accel_scale_micro = 24732,
1120 .default_scan_mask = 0x7FF,
1123 .channels = adis16400_channels,
1124 .num_channels = ARRAY_SIZE(adis16400_channels),
1125 .flags = ADIS16400_HAS_PROD_ID,
1126 .product_id = 0x4015,
1127 .gyro_scale_micro = 873,
1128 .accel_scale_micro = 32656,
1129 .default_scan_mask = 0xFFF,
1133 static const struct iio_info adis16400_info = {
1134 .driver_module = THIS_MODULE,
1135 .read_raw = &adis16400_read_raw,
1136 .write_raw = &adis16400_write_raw,
1137 .attrs = &adis16400_attribute_group,
1140 static int __devinit adis16400_probe(struct spi_device *spi)
1143 struct adis16400_state *st;
1144 struct iio_dev *indio_dev = iio_device_alloc(sizeof(*st));
1145 if (indio_dev == NULL) {
1149 st = iio_priv(indio_dev);
1150 /* this is only used for removal purposes */
1151 spi_set_drvdata(spi, indio_dev);
1154 mutex_init(&st->buf_lock);
1156 /* setup the industrialio driver allocated elements */
1157 st->variant = &adis16400_chips[spi_get_device_id(spi)->driver_data];
1158 indio_dev->dev.parent = &spi->dev;
1159 indio_dev->name = spi_get_device_id(spi)->name;
1160 indio_dev->channels = st->variant->channels;
1161 indio_dev->num_channels = st->variant->num_channels;
1162 indio_dev->info = &adis16400_info;
1163 indio_dev->modes = INDIO_DIRECT_MODE;
1165 ret = adis16400_configure_ring(indio_dev);
1167 goto error_free_dev;
1169 ret = iio_buffer_register(indio_dev,
1170 st->variant->channels,
1171 st->variant->num_channels);
1173 dev_err(&spi->dev, "failed to initialize the ring\n");
1174 goto error_unreg_ring_funcs;
1178 ret = adis16400_probe_trigger(indio_dev);
1180 goto error_uninitialize_ring;
1183 /* Get the device into a sane initial state */
1184 ret = adis16400_initial_setup(indio_dev);
1186 goto error_remove_trigger;
1187 ret = iio_device_register(indio_dev);
1189 goto error_remove_trigger;
1193 error_remove_trigger:
1195 adis16400_remove_trigger(indio_dev);
1196 error_uninitialize_ring:
1197 iio_buffer_unregister(indio_dev);
1198 error_unreg_ring_funcs:
1199 adis16400_unconfigure_ring(indio_dev);
1201 iio_device_free(indio_dev);
1206 /* fixme, confirm ordering in this function */
1207 static int adis16400_remove(struct spi_device *spi)
1210 struct iio_dev *indio_dev = spi_get_drvdata(spi);
1212 iio_device_unregister(indio_dev);
1213 ret = adis16400_stop_device(indio_dev);
1217 adis16400_remove_trigger(indio_dev);
1218 iio_buffer_unregister(indio_dev);
1219 adis16400_unconfigure_ring(indio_dev);
1220 iio_device_free(indio_dev);
1228 static const struct spi_device_id adis16400_id[] = {
1229 {"adis16300", ADIS16300},
1230 {"adis16334", ADIS16334},
1231 {"adis16350", ADIS16350},
1232 {"adis16354", ADIS16350},
1233 {"adis16355", ADIS16350},
1234 {"adis16360", ADIS16360},
1235 {"adis16362", ADIS16362},
1236 {"adis16364", ADIS16364},
1237 {"adis16365", ADIS16365},
1238 {"adis16400", ADIS16400},
1239 {"adis16405", ADIS16400},
1242 MODULE_DEVICE_TABLE(spi, adis16400_id);
1244 static struct spi_driver adis16400_driver = {
1246 .name = "adis16400",
1247 .owner = THIS_MODULE,
1249 .id_table = adis16400_id,
1250 .probe = adis16400_probe,
1251 .remove = __devexit_p(adis16400_remove),
1253 module_spi_driver(adis16400_driver);
1255 MODULE_AUTHOR("Manuel Stahl <manuel.stahl@iis.fraunhofer.de>");
1256 MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
1257 MODULE_LICENSE("GPL v2");