---
drivers/iio/Kconfig | 1 +
drivers/iio/Makefile | 1 +
drivers/iio/imu/Kconfig | 12 +
drivers/iio/imu/Makefile | 6 +
drivers/iio/imu/adis16400.h | 180 ++++++
drivers/iio/imu/adis16400_core.c | 1142 ++++++++++++++++++++++++++++++++++++++
6 files changed, 1342 insertions(+), 0 deletions(-)
diff --git a/drivers/iio/Kconfig b/drivers/iio/Kconfig
index 5dcd9e5..308bc97 100644
--- a/drivers/iio/Kconfig
+++ b/drivers/iio/Kconfig
@@ -12,6 +12,7 @@ menuconfig IIO
if IIO
source "drivers/iio/adc/Kconfig"
+source "drivers/iio/imu/Kconfig"
source "drivers/iio/light/Kconfig"
endif # IIO
diff --git a/drivers/iio/Makefile b/drivers/iio/Makefile
index 0e59946..db3c426 100644
--- a/drivers/iio/Makefile
+++ b/drivers/iio/Makefile
@@ -6,4 +6,5 @@ obj-$(CONFIG_IIO) += iio.o
industrialio-y := core.o
obj-y += adc/
+obj-y += imu/
obj-y += light/
diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
new file mode 100644
index 0000000..fe3c28c
--- /dev/null
+++ b/drivers/iio/imu/Kconfig
@@ -0,0 +1,12 @@
+menu "Inertial measurement units (IMUs)"
+
+config IIO_ADIS16400
+ tristate "Analog Devices ADIS16400 and similar IMU SPI driver"
+ depends on SPI
+ help
+ Say yes here to build support for Analog Devices adis16300, adis16350,
+ adis16354, adis16355, adis16360, adis16362, adis16364, adis16365,
+ adis16400 and adis16405 triaxial inertial sensors (adis16400 series
+ also have magnetometers).
+
+endmenu
diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
new file mode 100644
index 0000000..eb4d31e
--- /dev/null
+++ b/drivers/iio/imu/Makefile
@@ -0,0 +1,6 @@
+#
+# Makefile for IIO IMUs
+#
+
+iio_adis16400-y := adis16400_core.o
+obj-$(CONFIG_IIO_ADIS16400) += iio_adis16400.o
\ No newline at end of file
diff --git a/drivers/iio/imu/adis16400.h b/drivers/iio/imu/adis16400.h
new file mode 100644
index 0000000..78377ea
--- /dev/null
+++ b/drivers/iio/imu/adis16400.h
@@ -0,0 +1,180 @@
+/*
+ * adis16400.h support Analog Devices ADIS16400
+ * 3d 18g accelerometers,
+ * 3d gyroscopes,
+ * 3d 2.5gauss magnetometers via SPI
+ *
+ * Copyright (c) 2009 Manuel Stahl<manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2007 Jonathan Cameron<jic23@xxxxxxxxx>
+ *
+ * Loosely based upon lis3l02dq.h
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ */
+
+#ifndef SPI_ADIS16400_H_
+#define SPI_ADIS16400_H_
+
+#define ADIS16400_STARTUP_DELAY 290 /* ms */
+#define ADIS16400_MTEST_DELAY 90 /* ms */
+
+#define ADIS16400_READ_REG(a) a
+#define ADIS16400_WRITE_REG(a) ((a) | 0x80)
+
+#define ADIS16400_FLASH_CNT 0x00 /* Flash memory write count */
+#define ADIS16400_SUPPLY_OUT 0x02 /* Power supply measurement */
+#define ADIS16400_XGYRO_OUT 0x04 /* X-axis gyroscope output */
+#define ADIS16400_YGYRO_OUT 0x06 /* Y-axis gyroscope output */
+#define ADIS16400_ZGYRO_OUT 0x08 /* Z-axis gyroscope output */
+#define ADIS16400_XACCL_OUT 0x0A /* X-axis accelerometer output */
+#define ADIS16400_YACCL_OUT 0x0C /* Y-axis accelerometer output */
+#define ADIS16400_ZACCL_OUT 0x0E /* Z-axis accelerometer output */
+#define ADIS16400_XMAGN_OUT 0x10 /* X-axis magnetometer measurement */
+#define ADIS16400_YMAGN_OUT 0x12 /* Y-axis magnetometer measurement */
+#define ADIS16400_ZMAGN_OUT 0x14 /* Z-axis magnetometer measurement */
+#define ADIS16400_TEMP_OUT 0x16 /* Temperature output */
+#define ADIS16400_AUX_ADC 0x18 /* Auxiliary ADC measurement */
+
+#define ADIS16350_XTEMP_OUT 0x10 /* X-axis gyroscope temperature measurement */
+#define ADIS16350_YTEMP_OUT 0x12 /* Y-axis gyroscope temperature measurement */
+#define ADIS16350_ZTEMP_OUT 0x14 /* Z-axis gyroscope temperature measurement */
+
+#define ADIS16300_PITCH_OUT 0x12 /* X axis inclinometer output measurement */
+#define ADIS16300_ROLL_OUT 0x12 /* Y axis inclinometer output measurement */
+
+/* Calibration parameters */
+#define ADIS16400_XGYRO_OFF 0x1A /* X-axis gyroscope bias offset factor */
+#define ADIS16400_YGYRO_OFF 0x1C /* Y-axis gyroscope bias offset factor */
+#define ADIS16400_ZGYRO_OFF 0x1E /* Z-axis gyroscope bias offset factor */
+#define ADIS16400_XACCL_OFF 0x20 /* X-axis acceleration bias offset factor */
+#define ADIS16400_YACCL_OFF 0x22 /* Y-axis acceleration bias offset factor */
+#define ADIS16400_ZACCL_OFF 0x24 /* Z-axis acceleration bias offset factor */
+#define ADIS16400_XMAGN_HIF 0x26 /* X-axis magnetometer, hard-iron factor */
+#define ADIS16400_YMAGN_HIF 0x28 /* Y-axis magnetometer, hard-iron factor */
+#define ADIS16400_ZMAGN_HIF 0x2A /* Z-axis magnetometer, hard-iron factor */
+#define ADIS16400_XMAGN_SIF 0x2C /* X-axis magnetometer, soft-iron factor */
+#define ADIS16400_YMAGN_SIF 0x2E /* Y-axis magnetometer, soft-iron factor */
+#define ADIS16400_ZMAGN_SIF 0x30 /* Z-axis magnetometer, soft-iron factor */
+
+#define ADIS16400_GPIO_CTRL 0x32 /* Auxiliary digital input/output control */
+#define ADIS16400_MSC_CTRL 0x34 /* Miscellaneous control */
+#define ADIS16400_SMPL_PRD 0x36 /* Internal sample period (rate) control */
+#define ADIS16400_SENS_AVG 0x38 /* Dynamic range and digital filter control */
+#define ADIS16400_SLP_CNT 0x3A /* Sleep mode control */
+#define ADIS16400_DIAG_STAT 0x3C /* System status */
+
+/* Alarm functions */
+#define ADIS16400_GLOB_CMD 0x3E /* System command */
+#define ADIS16400_ALM_MAG1 0x40 /* Alarm 1 amplitude threshold */
+#define ADIS16400_ALM_MAG2 0x42 /* Alarm 2 amplitude threshold */
+#define ADIS16400_ALM_SMPL1 0x44 /* Alarm 1 sample size */
+#define ADIS16400_ALM_SMPL2 0x46 /* Alarm 2 sample size */
+#define ADIS16400_ALM_CTRL 0x48 /* Alarm control */
+#define ADIS16400_AUX_DAC 0x4A /* Auxiliary DAC data */
+
+#define ADIS16400_PRODUCT_ID 0x56 /* Product identifier */
+
+#define ADIS16400_ERROR_ACTIVE (1<<14)
+#define ADIS16400_NEW_DATA (1<<14)
+
+/* MSC_CTRL */
+#define ADIS16400_MSC_CTRL_MEM_TEST (1<<11)
+#define ADIS16400_MSC_CTRL_INT_SELF_TEST (1<<10)
+#define ADIS16400_MSC_CTRL_NEG_SELF_TEST (1<<9)
+#define ADIS16400_MSC_CTRL_POS_SELF_TEST (1<<8)
+#define ADIS16400_MSC_CTRL_GYRO_BIAS (1<<7)
+#define ADIS16400_MSC_CTRL_ACCL_ALIGN (1<<6)
+#define ADIS16400_MSC_CTRL_DATA_RDY_EN (1<<2)
+#define ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH (1<<1)
+#define ADIS16400_MSC_CTRL_DATA_RDY_DIO2 (1<<0)
+
+/* SMPL_PRD */
+#define ADIS16400_SMPL_PRD_TIME_BASE (1<<7)
+#define ADIS16400_SMPL_PRD_DIV_MASK 0x7F
+
+/* DIAG_STAT */
+#define ADIS16400_DIAG_STAT_ZACCL_FAIL (1<<15)
+#define ADIS16400_DIAG_STAT_YACCL_FAIL (1<<14)
+#define ADIS16400_DIAG_STAT_XACCL_FAIL (1<<13)
+#define ADIS16400_DIAG_STAT_XGYRO_FAIL (1<<12)
+#define ADIS16400_DIAG_STAT_YGYRO_FAIL (1<<11)
+#define ADIS16400_DIAG_STAT_ZGYRO_FAIL (1<<10)
+#define ADIS16400_DIAG_STAT_ALARM2 (1<<9)
+#define ADIS16400_DIAG_STAT_ALARM1 (1<<8)
+#define ADIS16400_DIAG_STAT_FLASH_CHK (1<<6)
+#define ADIS16400_DIAG_STAT_SELF_TEST (1<<5)
+#define ADIS16400_DIAG_STAT_OVERFLOW (1<<4)
+#define ADIS16400_DIAG_STAT_SPI_FAIL (1<<3)
+#define ADIS16400_DIAG_STAT_FLASH_UPT (1<<2)
+#define ADIS16400_DIAG_STAT_POWER_HIGH (1<<1)
+#define ADIS16400_DIAG_STAT_POWER_LOW (1<<0)
+
+/* GLOB_CMD */
+#define ADIS16400_GLOB_CMD_SW_RESET (1<<7)
+#define ADIS16400_GLOB_CMD_P_AUTO_NULL (1<<4)
+#define ADIS16400_GLOB_CMD_FLASH_UPD (1<<3)
+#define ADIS16400_GLOB_CMD_DAC_LATCH (1<<2)
+#define ADIS16400_GLOB_CMD_FAC_CALIB (1<<1)
+#define ADIS16400_GLOB_CMD_AUTO_NULL (1<<0)
+
+/* SLP_CNT */
+#define ADIS16400_SLP_CNT_POWER_OFF (1<<8)
+
+#define ADIS16400_MAX_TX 24
+#define ADIS16400_MAX_RX 24
+
+#define ADIS16400_SPI_SLOW (u32)(300 * 1000)
+#define ADIS16400_SPI_BURST (u32)(1000 * 1000)
+#define ADIS16400_SPI_FAST (u32)(2000 * 1000)
+
+#define ADIS16400_HAS_PROD_ID 1
+
+struct adis16400_chip_info {
+ const struct iio_chan_spec *channels;
+ const int num_channels;
+ const int product_id;
+ const long flags;
+ unsigned int gyro_scale_micro;
+ unsigned int accel_scale_micro;
+};
+
+/**
+ * struct adis16400_state - device instance specific data
+ * @us: actual spi_device
+ * @trig: data ready trigger registered with iio
+ * @tx: transmit buffer
+ * @rx: receive buffer
+ * @buf_lock: mutex to protect tx and rx
+ **/
+struct adis16400_state {
+ struct spi_device *us;
+ struct iio_trigger *trig;
+ struct mutex buf_lock;
+ struct adis16400_chip_info *variant;
+
+ u8 tx[ADIS16400_MAX_TX] ____cacheline_aligned;
+ u8 rx[ADIS16400_MAX_RX] ____cacheline_aligned;
+};
+
+#define ADIS16400_SCAN_SUPPLY 0
+#define ADIS16400_SCAN_GYRO_X 1
+#define ADIS16400_SCAN_GYRO_Y 2
+#define ADIS16400_SCAN_GYRO_Z 3
+#define ADIS16400_SCAN_ACC_X 4
+#define ADIS16400_SCAN_ACC_Y 5
+#define ADIS16400_SCAN_ACC_Z 6
+#define ADIS16400_SCAN_MAGN_X 7
+#define ADIS16350_SCAN_TEMP_X 7
+#define ADIS16400_SCAN_MAGN_Y 8
+#define ADIS16350_SCAN_TEMP_Y 8
+#define ADIS16400_SCAN_MAGN_Z 9
+#define ADIS16350_SCAN_TEMP_Z 9
+#define ADIS16400_SCAN_TEMP 10
+#define ADIS16350_SCAN_ADC_0 10
+#define ADIS16400_SCAN_ADC_0 11
+#define ADIS16300_SCAN_INCLI_X 12
+#define ADIS16300_SCAN_INCLI_Y 13
+
+#endif /* SPI_ADIS16400_H_ */
diff --git a/drivers/iio/imu/adis16400_core.c b/drivers/iio/imu/adis16400_core.c
new file mode 100644
index 0000000..5e49742
--- /dev/null
+++ b/drivers/iio/imu/adis16400_core.c
@@ -0,0 +1,1142 @@
+/*
+ * adis16400.c support a number of ADI IMUs
+ *
+ * Copyright (c) 2009 Manuel Stahl<manuel.stahl@xxxxxxxxxxxxxxxxx>
+ * Copyright (c) 2007-2011 Jonathan Cameron<jic23@xxxxxxxxx>
+ * Copyright (c) 2011 Analog Devices Inc.
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ */
+#include<linux/delay.h>
+#include<linux/mutex.h>
+#include<linux/device.h>
+#include<linux/kernel.h>
+#include<linux/spi/spi.h>
+#include<linux/slab.h>
+#include<linux/sysfs.h>
+#include<linux/list.h>
+
+#include<linux/iio/iio.h>
+#include<linux/iio/sysfs.h>
+#include "adis16400.h"
+
+enum adis16400_chip_variant {
+ ADIS16300,
+ ADIS16334,
+ ADIS16350,
+ ADIS16360,
+ ADIS16362,
+ ADIS16364,
+ ADIS16365,
+ ADIS16400,
+};
+
+/**
+ * adis16400_spi_write_reg_8() - write single byte to a register
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @reg_address: the address of the register to be written
+ * @val: the value to write
+ */
+static int adis16400_spi_write_reg_8(struct iio_dev *indio_dev,
+ u8 reg_address,
+ u8 val)
+{
+ int ret;
+ struct adis16400_state *st = iio_priv(indio_dev);
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADIS16400_WRITE_REG(reg_address);
+ st->tx[1] = val;
+
+ ret = spi_write(st->us, st->tx, 2);
+ mutex_unlock(&st->buf_lock);
+
+ return ret;
+}
+
+/**
+ * adis16400_spi_write_reg_16() - write 2 bytes to a pair of registers
+ * @dev: device associated with child of actual device (iio_dev or iio_trig)
+ * @reg_address: the address of the lower of the two registers. Second register
+ * is assumed to have address one greater.
+ * @val: value to be written
+ *
+ * At the moment the spi framework doesn't allow global setting of cs_change.
+ * This means that use cannot be made of spi_write.
+ */
+static int adis16400_spi_write_reg_16(struct iio_dev *indio_dev,
+ u8 lower_reg_address,
+ u16 value)
+{
+ int ret;
+ struct spi_message msg;
+ struct adis16400_state *st = iio_priv(indio_dev);
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ }, {
+ .tx_buf = st->tx + 2,
+ .bits_per_word = 8,
+ .len = 2,
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADIS16400_WRITE_REG(lower_reg_address);
+ st->tx[1] = value& 0xFF;
+ st->tx[2] = ADIS16400_WRITE_REG(lower_reg_address + 1);
+ st->tx[3] = (value>> 8)& 0xFF;
+
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0],&msg);
+ spi_message_add_tail(&xfers[1],&msg);
+ ret = spi_sync(st->us,&msg);
+ mutex_unlock(&st->buf_lock);
+
+ return ret;
+}
+
+/**
+ * adis16400_spi_read_reg_16() - read 2 bytes from a 16-bit register
+ * @indio_dev: iio device
+ * @reg_address: the address of the lower of the two registers. Second register
+ * is assumed to have address one greater.
+ * @val: somewhere to pass back the value read
+ *
+ * At the moment the spi framework doesn't allow global setting of cs_change.
+ * This means that use cannot be made of spi_read.
+ **/
+static int adis16400_spi_read_reg_16(struct iio_dev *indio_dev,
+ u8 lower_reg_address,
+ u16 *val)
+{
+ struct spi_message msg;
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int ret;
+ struct spi_transfer xfers[] = {
+ {
+ .tx_buf = st->tx,
+ .bits_per_word = 8,
+ .len = 2,
+ .cs_change = 1,
+ }, {
+ .rx_buf = st->rx,
+ .bits_per_word = 8,
+ .len = 2,
+ },
+ };
+
+ mutex_lock(&st->buf_lock);
+ st->tx[0] = ADIS16400_READ_REG(lower_reg_address);
+ st->tx[1] = 0;
+
+ spi_message_init(&msg);
+ spi_message_add_tail(&xfers[0],&msg);
+ spi_message_add_tail(&xfers[1],&msg);
+ ret = spi_sync(st->us,&msg);
+ if (ret) {
+ dev_err(&st->us->dev,
+ "problem when reading 16 bit register 0x%02X",
+ lower_reg_address);
+ goto error_ret;
+ }
+ *val = (st->rx[0]<< 8) | st->rx[1];
+
+error_ret:
+ mutex_unlock(&st->buf_lock);
+ return ret;
+}
+
+static ssize_t adis16400_read_frequency(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ int ret, len = 0;
+ u16 t;
+ int sps;
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ ADIS16400_SMPL_PRD,
+&t);
+ if (ret)
+ return ret;
+ sps = (t& ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
+ sps /= (t& ADIS16400_SMPL_PRD_DIV_MASK) + 1;
+ len = sprintf(buf, "%d SPS\n", sps);
+ return len;
+}
+
+static ssize_t adis16400_write_frequency(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf,
+ size_t len)
+{
+ struct iio_dev *indio_dev = dev_get_drvdata(dev);
+ struct adis16400_state *st = iio_priv(indio_dev);
+ long val;
+ int ret;
+ u8 t;
+
+ ret = strict_strtol(buf, 10,&val);
+ if (ret)
+ return ret;
+
+ mutex_lock(&indio_dev->mlock);
+
+ t = (1638 / val);
+ if (t> 0)
+ t--;
+ t&= ADIS16400_SMPL_PRD_DIV_MASK;
+ if ((t& ADIS16400_SMPL_PRD_DIV_MASK)>= 0x0A)
+ st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ else
+ st->us->max_speed_hz = ADIS16400_SPI_FAST;
+
+ ret = adis16400_spi_write_reg_8(indio_dev,
+ ADIS16400_SMPL_PRD,
+ t);
+
+ mutex_unlock(&indio_dev->mlock);
+
+ return ret ? ret : len;
+}
+
+static int adis16400_reset(struct iio_dev *indio_dev)
+{
+ int ret;
+ ret = adis16400_spi_write_reg_8(indio_dev,
+ ADIS16400_GLOB_CMD,
+ ADIS16400_GLOB_CMD_SW_RESET);
+ if (ret)
+ dev_err(&indio_dev->dev, "problem resetting device");
+
+ return ret;
+}
+
+static ssize_t adis16400_write_reset(struct device *dev,
+ struct device_attribute *attr,
+ const char *buf, size_t len)
+{
+ bool val;
+ int ret;
+
+ ret = strtobool(buf,&val);
+ if (ret< 0)
+ return ret;
+ if (val) {
+ ret = adis16400_reset(dev_get_drvdata(dev));
+ if (ret< 0)
+ return ret;
+ }
+
+ return len;
+}
+
+/* Power down the device */
+static int adis16400_stop_device(struct iio_dev *indio_dev)
+{
+ int ret;
+ u16 val = ADIS16400_SLP_CNT_POWER_OFF;
+
+ ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
+ if (ret)
+ dev_err(&indio_dev->dev,
+ "problem with turning device off: SLP_CNT");
+
+ return ret;
+}
+
+static int adis16400_check_status(struct iio_dev *indio_dev)
+{
+ u16 status;
+ int ret;
+ struct device *dev =&indio_dev->dev;
+
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ ADIS16400_DIAG_STAT,&status);
+
+ if (ret< 0) {
+ dev_err(dev, "Reading status failed\n");
+ goto error_ret;
+ }
+ ret = status;
+ if (status& ADIS16400_DIAG_STAT_ZACCL_FAIL)
+ dev_err(dev, "Z-axis accelerometer self-test failure\n");
+ if (status& ADIS16400_DIAG_STAT_YACCL_FAIL)
+ dev_err(dev, "Y-axis accelerometer self-test failure\n");
+ if (status& ADIS16400_DIAG_STAT_XACCL_FAIL)
+ dev_err(dev, "X-axis accelerometer self-test failure\n");
+ if (status& ADIS16400_DIAG_STAT_XGYRO_FAIL)
+ dev_err(dev, "X-axis gyroscope self-test failure\n");
+ if (status& ADIS16400_DIAG_STAT_YGYRO_FAIL)
+ dev_err(dev, "Y-axis gyroscope self-test failure\n");
+ if (status& ADIS16400_DIAG_STAT_ZGYRO_FAIL)
+ dev_err(dev, "Z-axis gyroscope self-test failure\n");
+ if (status& ADIS16400_DIAG_STAT_ALARM2)
+ dev_err(dev, "Alarm 2 active\n");
+ if (status& ADIS16400_DIAG_STAT_ALARM1)
+ dev_err(dev, "Alarm 1 active\n");
+ if (status& ADIS16400_DIAG_STAT_FLASH_CHK)
+ dev_err(dev, "Flash checksum error\n");
+ if (status& ADIS16400_DIAG_STAT_SELF_TEST)
+ dev_err(dev, "Self test error\n");
+ if (status& ADIS16400_DIAG_STAT_OVERFLOW)
+ dev_err(dev, "Sensor overrange\n");
+ if (status& ADIS16400_DIAG_STAT_SPI_FAIL)
+ dev_err(dev, "SPI failure\n");
+ if (status& ADIS16400_DIAG_STAT_FLASH_UPT)
+ dev_err(dev, "Flash update failed\n");
+ if (status& ADIS16400_DIAG_STAT_POWER_HIGH)
+ dev_err(dev, "Power supply above 5.25V\n");
+ if (status& ADIS16400_DIAG_STAT_POWER_LOW)
+ dev_err(dev, "Power supply below 4.75V\n");
+
+error_ret:
+ return ret;
+}
+
+static int adis16400_self_test(struct iio_dev *indio_dev)
+{
+ int ret;
+ ret = adis16400_spi_write_reg_16(indio_dev,
+ ADIS16400_MSC_CTRL,
+ ADIS16400_MSC_CTRL_MEM_TEST);
+ if (ret) {
+ dev_err(&indio_dev->dev, "problem starting self test");
+ goto err_ret;
+ }
+
+ msleep(ADIS16400_MTEST_DELAY);
+ adis16400_check_status(indio_dev);
+
+err_ret:
+ return ret;
+}
+
+static int adis16400_initial_setup(struct iio_dev *indio_dev)
+{
+ int ret;
+ u16 prod_id, smp_prd;
+ struct adis16400_state *st = iio_priv(indio_dev);
+
+ /* use low spi speed for init */
+ st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ st->us->mode = SPI_MODE_3;
+ spi_setup(st->us);
+
+ ret = adis16400_self_test(indio_dev);
+ if (ret) {
+ dev_err(&indio_dev->dev, "self test failure");
+ goto err_ret;
+ }
+
+ ret = adis16400_check_status(indio_dev);
+ if (ret) {
+ adis16400_reset(indio_dev);
+ dev_err(&indio_dev->dev, "device not playing ball -> reset");
+ msleep(ADIS16400_STARTUP_DELAY);
+ ret = adis16400_check_status(indio_dev);
+ if (ret) {
+ dev_err(&indio_dev->dev, "giving up");
+ goto err_ret;
+ }
+ }
+ if (st->variant->flags& ADIS16400_HAS_PROD_ID) {
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ ADIS16400_PRODUCT_ID,&prod_id);
+ if (ret)
+ goto err_ret;
+
+ if ((prod_id& 0xF000) != st->variant->product_id)
+ dev_warn(&indio_dev->dev, "incorrect id");
+
+ dev_info(&indio_dev->dev,
+ "%s: prod_id 0x%04x at CS%d (irq %d)\n",
+ indio_dev->name, prod_id,
+ st->us->chip_select, st->us->irq);
+ }
+ /* use high spi speed if possible */
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ ADIS16400_SMPL_PRD,&smp_prd);
+ if (!ret&& (smp_prd& ADIS16400_SMPL_PRD_DIV_MASK)< 0x0A) {
+ st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ spi_setup(st->us);
+ }
+
+err_ret:
+ return ret;
+}
+
+static IIO_DEVICE_ATTR(sampling_frequency,
+ S_IWUSR | S_IRUGO,
+ adis16400_read_frequency,
+ adis16400_write_frequency,
+ 0);
+
+static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16400_write_reset, 0);
+
+static IIO_CONST_ATTR(sampling_frequency_available, "409 546 819 1638");
+
+enum adis16400_chan {
+ in_supply,
+ gyro_x,
+ gyro_y,
+ gyro_z,
+ accel_x,
+ accel_y,
+ accel_z,
+ magn_x,
+ magn_y,
+ magn_z,
+ temp,
+ temp0, temp1, temp2,
+ in1,
+ incli_x,
+ incli_y,
+};
+
+static u8 adis16400_addresses[17][2] = {
+ [in_supply] = { ADIS16400_SUPPLY_OUT },
+ [gyro_x] = { ADIS16400_XGYRO_OUT, ADIS16400_XGYRO_OFF },
+ [gyro_y] = { ADIS16400_YGYRO_OUT, ADIS16400_YGYRO_OFF },
+ [gyro_z] = { ADIS16400_ZGYRO_OUT, ADIS16400_ZGYRO_OFF },
+ [accel_x] = { ADIS16400_XACCL_OUT, ADIS16400_XACCL_OFF },
+ [accel_y] = { ADIS16400_YACCL_OUT, ADIS16400_YACCL_OFF },
+ [accel_z] = { ADIS16400_ZACCL_OUT, ADIS16400_ZACCL_OFF },
+ [magn_x] = { ADIS16400_XMAGN_OUT },
+ [magn_y] = { ADIS16400_YMAGN_OUT },
+ [magn_z] = { ADIS16400_ZMAGN_OUT },
+ [temp] = { ADIS16400_TEMP_OUT },
+ [temp0] = { ADIS16350_XTEMP_OUT },
+ [temp1] = { ADIS16350_YTEMP_OUT },
+ [temp2] = { ADIS16350_ZTEMP_OUT },
+ [in1] = { ADIS16400_AUX_ADC },
+ [incli_x] = { ADIS16300_PITCH_OUT },
+ [incli_y] = { ADIS16300_ROLL_OUT }
+};
+
+static int adis16400_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int val,
+ int val2,
+ long mask)
+{
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16400_spi_write_reg_16(indio_dev,
+ adis16400_addresses[chan->address][1],
+ val);
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+}
+
+static int adis16400_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val,
+ int *val2,
+ long mask)
+{
+ struct adis16400_state *st = iio_priv(indio_dev);
+ int ret, shift;
+ s16 val16;
+
+ switch (mask) {
+ case 0:
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ adis16400_addresses[chan->address][0],
+&val16);
+ if (ret) {
+ mutex_unlock(&indio_dev->mlock);
+ return ret;
+ }
+ val16&= (1<< chan->scan_type.realbits) - 1;
+ if (chan->scan_type.sign == 's') {
+ shift = 16 - chan->scan_type.realbits;
+ val16 = (s16)(val16<< shift)>> shift;
+ }
+ *val = val16;
+ mutex_unlock(&indio_dev->mlock);
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_ANGL_VEL:
+ *val = 0;
+ *val2 = st->variant->gyro_scale_micro;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_IN:
+ *val = 0;
+ if (chan->channel == 0)
+ *val2 = 2418;
+ else
+ *val2 = 806;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_ACCEL:
+ *val = 0;
+ *val2 = st->variant->accel_scale_micro;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_MAGN:
+ *val = 0;
+ *val2 = 500;
+ return IIO_VAL_INT_PLUS_MICRO;
+ case IIO_TEMP:
+ *val = 0;
+ *val2 = 140000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_CALIBBIAS:
+ mutex_lock(&indio_dev->mlock);
+ ret = adis16400_spi_read_reg_16(indio_dev,
+ adis16400_addresses[chan->address][1],
+&val16);
+ mutex_unlock(&indio_dev->mlock);
+ if (ret)
+ return ret;
+ val16 = ((val16& 0xFFF)<< 4)>> 4;
+ *val = val16;
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_OFFSET:
+ /* currently only temperature */
+ *val = 198;
+ *val2 = 160000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static struct iio_chan_spec adis16400_channels[] = {
+ {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 0,
+ .extend_name = "supply",
+ .info_mask = IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = in_supply,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 'u',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_y,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_y,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_MAGN,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = magn_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_MAGN,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = magn_y,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_MAGN,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = magn_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = temp,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_IN,
+ .indexed = 1,
+ .channel = 1,
+ .info_mask = IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = in1,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 'u',
+ },
+ },
+};
+
+static struct iio_chan_spec adis16350_channels[] = {
+ {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 0,
+ .extend_name = "supply",
+ .info_mask = IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = in_supply,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 'u',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_y,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_y,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .extend_name = "x",
+ .info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = temp0,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 1,
+ .extend_name = "y",
+ .info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = temp1,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 2,
+ .extend_name = "z",
+ .info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = temp2,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_IN,
+ .indexed = 1,
+ .channel = 1,
+ .info_mask = IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = in1,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 'u',
+ },
+ },
+};
+
+static struct iio_chan_spec adis16300_channels[] = {
+ {
+ .type = IIO_VOLTAGE,
+ .indexed = 1,
+ .channel = 0,
+ .extend_name = "supply",
+ .info_mask = IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = in_supply,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 'u',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_y,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = temp,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_IN,
+ .indexed = 1,
+ .channel = 1,
+ .info_mask = IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
+ .address = in1,
+ .scan_type = {
+ .realbits = 12,
+ .sign = 'u',
+ },
+ }, {
+ .type = IIO_INCLI,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = incli_x,
+ .scan_type = {
+ .realbits = 13,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_INCLI,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = incli_y,
+ .scan_type = {
+ .realbits = 13,
+ .sign = 's',
+ },
+ },
+};
+
+static const struct iio_chan_spec adis16334_channels[] = {
+ {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_y,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ANGL_VEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = gyro_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_x,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_y,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_ACCEL,
+ .modified = 1,
+ .channel2 = IIO_MOD_Z,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ }, {
+ .type = IIO_TEMP,
+ .indexed = 1,
+ .channel = 0,
+ .info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
+ IIO_CHAN_INFO_SCALE_SHARED_BIT,
+ .address = accel_z,
+ .scan_type = {
+ .realbits = 14,
+ .sign = 's',
+ },
+ },
+};
+
+static struct attribute *adis16400_attributes[] = {
+&iio_dev_attr_sampling_frequency.dev_attr.attr,
+&iio_const_attr_sampling_frequency_available.dev_attr.attr,
+&iio_dev_attr_reset.dev_attr.attr,
+ NULL
+};
+
+static const struct attribute_group adis16400_attribute_group = {
+ .attrs = adis16400_attributes,
+};
+
+static struct adis16400_chip_info adis16400_chips[] = {
+ [ADIS16300] = {
+ .channels = adis16300_channels,
+ .num_channels = ARRAY_SIZE(adis16300_channels),
+ .gyro_scale_micro = 873,
+ .accel_scale_micro = 5884,
+ },
+ [ADIS16334] = {
+ .channels = adis16334_channels,
+ .num_channels = ARRAY_SIZE(adis16334_channels),
+ .gyro_scale_micro = 873,
+ .accel_scale_micro = 981,
+ },
+ [ADIS16350] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .gyro_scale_micro = 872664,
+ .accel_scale_micro = 24732,
+ },
+ [ADIS16360] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FE8,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ },
+ [ADIS16362] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FEA,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ },
+ [ADIS16364] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FEC,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ },
+ [ADIS16365] = {
+ .channels = adis16350_channels,
+ .num_channels = ARRAY_SIZE(adis16350_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x3FED,
+ .gyro_scale_micro = 1279,
+ .accel_scale_micro = 24732,
+ },
+ [ADIS16400] = {
+ .channels = adis16400_channels,
+ .num_channels = ARRAY_SIZE(adis16400_channels),
+ .flags = ADIS16400_HAS_PROD_ID,
+ .product_id = 0x4015,
+ .gyro_scale_micro = 873,
+ .accel_scale_micro = 32656,
+ }
+};
+
+static const struct iio_info adis16400_info = {
+ .driver_module = THIS_MODULE,
+ .read_raw =&adis16400_read_raw,
+ .write_raw =&adis16400_write_raw,
+ .attrs =&adis16400_attribute_group,
+};
+
+static int __devinit adis16400_probe(struct spi_device *spi)
+{
+ int ret;
+ struct adis16400_state *st;
+ struct iio_dev *indio_dev;
+
+ indio_dev = iio_device_allocate(sizeof(*st));
+ if (indio_dev == NULL) {
+ ret = -ENOMEM;
+ goto error_ret;
+ }
+ st = iio_priv(indio_dev);
+ /* this is only used for removal purposes */
+ spi_set_drvdata(spi, indio_dev);
+
+ st->us = spi;
+ mutex_init(&st->buf_lock);
+
+ /* setup the industrialio driver allocated elements */
+ st->variant =&adis16400_chips[spi_get_device_id(spi)->driver_data];
+ indio_dev->dev.parent =&spi->dev;
+ indio_dev->name = spi_get_device_id(spi)->name;
+ indio_dev->channels = st->variant->channels;
+ indio_dev->num_channels = st->variant->num_channels;
+ indio_dev->info =&adis16400_info;
+
+ ret = iio_device_register(indio_dev);
+ if (ret)
+ goto error_free_dev;
+
+ /* Get the device into a sane initial state */
+ ret = adis16400_initial_setup(indio_dev);
+ if (ret)
+ goto error_unregister_dev;
+
+ return 0;
+
+error_unregister_dev:
+ iio_device_unregister(indio_dev);
+error_free_dev:
+ iio_device_free(indio_dev);
+error_ret:
+ return ret;
+}
+
+/* fixme, confirm ordering in this function */
+static int adis16400_remove(struct spi_device *spi)
+{
+ int ret;
+ struct iio_dev *indio_dev = spi_get_drvdata(spi);
+
+ iio_device_unregister(indio_dev);
+
+ ret = adis16400_stop_device(indio_dev);
+ if (ret)
+ return ret;
+
+ iio_device_free(indio_dev);
+
+ return 0;
+}
+
+static const struct spi_device_id adis16400_id[] = {
+ {"adis16300", ADIS16300},
+ {"adis16334", ADIS16334},
+ {"adis16350", ADIS16350},
+ {"adis16354", ADIS16350},
+ {"adis16355", ADIS16350},
+ {"adis16360", ADIS16360},
+ {"adis16362", ADIS16362},
+ {"adis16364", ADIS16364},
+ {"adis16365", ADIS16365},
+ {"adis16400", ADIS16400},
+ {"adis16405", ADIS16400},
+ {}
+};
+
+static struct spi_driver adis16400_driver = {
+ .driver = {
+ .name = "adis16400",
+ .owner = THIS_MODULE,
+ },
+ .id_table = adis16400_id,
+ .probe = adis16400_probe,
+ .remove = __devexit_p(adis16400_remove),
+};
+
+static __init int adis16400_init(void)
+{
+ return spi_register_driver(&adis16400_driver);
+}
+module_init(adis16400_init);
+
+static __exit void adis16400_exit(void)
+{
+ spi_unregister_driver(&adis16400_driver);
+}
+module_exit(adis16400_exit);
+
+MODULE_AUTHOR("Manuel Stahl<manuel.stahl@xxxxxxxxxxxxxxxxx>");
+MODULE_DESCRIPTION("Analog Devices ADIS16400/5 IMU SPI driver");
+MODULE_LICENSE("GPL v2");
--
1.7.7.2
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