On 11/20/2012 01:36 PM, Lars-Peter Clausen wrote:
> This patch adds support for the ADIS16375, ADIS16480, ADIS16485, ADIS16488 6
> degree to 10 degree of freedom IMUs.
Only one minor nitpick.. docs in your adis library have slipped a little
behind the code with some new element struct adis_data not described
(they are obvious, but consistency is king ;)
>
> Signed-off-by: Lars-Peter Clausen <lars@xxxxxxxxxx>
Added to togreg branch of iio.git.
Lots of nice stuff in this series. Thanks!
> ---
> drivers/iio/imu/Kconfig | 16 +
> drivers/iio/imu/Makefile | 2 +
> drivers/iio/imu/adis.c | 3 +
> drivers/iio/imu/adis16480.c | 925 +++++++++++++++++++++++++++++++++++++++++++
> include/linux/iio/imu/adis.h | 4 +
> 5 files changed, 950 insertions(+)
> create mode 100644 drivers/iio/imu/adis16480.c
>
> diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig
> index c24410c..8685a16 100644
> --- a/drivers/iio/imu/Kconfig
> +++ b/drivers/iio/imu/Kconfig
> @@ -1,3 +1,19 @@
> +#
> +# IIO imu drivers configuration
> +#
> +menu "Inertial measurement units"
> +
> +config ADIS16480
> + tristate "Analog Devices ADIS16480 and similar IMU driver"
> + depends on SPI
> + select IIO_ADIS_LIB
> + select IIO_ADIS_LIB_BUFFER if IIO_BUFFER
> + help
> + Say yes here to build support for Analog Devices ADIS16375, ADIS16480,
> + ADIS16485, ADIS16488 inertial sensors.
> +
> +endmenu
> +
> config IIO_ADIS_LIB
> tristate
> help
> diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile
> index 97676ab..cfe5763 100644
> --- a/drivers/iio/imu/Makefile
> +++ b/drivers/iio/imu/Makefile
> @@ -2,6 +2,8 @@
> # Makefile for Inertial Measurement Units
> #
>
> +obj-$(CONFIG_ADIS16480) += adis16480.o
> +
> adis_lib-y += adis.o
> adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_trigger.o
> adis_lib-$(CONFIG_IIO_ADIS_LIB_BUFFER) += adis_buffer.o
> diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
> index c4ea04f..911255d 100644
> --- a/drivers/iio/imu/adis.c
> +++ b/drivers/iio/imu/adis.c
> @@ -238,6 +238,9 @@ int adis_enable_irq(struct adis *adis, bool enable)
> int ret = 0;
> uint16_t msc;
>
> + if (adis->data->enable_irq)
> + return adis->data->enable_irq(adis, enable);
> +
> ret = adis_read_reg_16(adis, adis->data->msc_ctrl_reg, &msc);
> if (ret)
> goto error_ret;
> diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
> new file mode 100644
> index 0000000..a058527
> --- /dev/null
> +++ b/drivers/iio/imu/adis16480.c
> @@ -0,0 +1,925 @@
> +/*
> + * ADIS16480 and similar IMUs driver
> + *
> + * Copyright 2012 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/interrupt.h>
> +#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/module.h>
> +
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +#include <linux/iio/buffer.h>
> +#include <linux/iio/imu/adis.h>
> +
> +#include <linux/iio/iio.h>
> +#include <linux/debugfs.h>
> +
> +#define ADIS16480_PAGE_SIZE 0x80
> +
> +#define ADIS16480_REG(page, reg) ((page) * ADIS16480_PAGE_SIZE + (reg))
> +
> +#define ADIS16480_REG_PAGE_ID 0x00 /* Same address on each page */
> +#define ADIS16480_REG_SEQ_CNT ADIS16480_REG(0x00, 0x06)
> +#define ADIS16480_REG_SYS_E_FLA ADIS16480_REG(0x00, 0x08)
> +#define ADIS16480_REG_DIAG_STS ADIS16480_REG(0x00, 0x0A)
> +#define ADIS16480_REG_ALM_STS ADIS16480_REG(0x00, 0x0C)
> +#define ADIS16480_REG_TEMP_OUT ADIS16480_REG(0x00, 0x0E)
> +#define ADIS16480_REG_X_GYRO_OUT ADIS16480_REG(0x00, 0x10)
> +#define ADIS16480_REG_Y_GYRO_OUT ADIS16480_REG(0x00, 0x14)
> +#define ADIS16480_REG_Z_GYRO_OUT ADIS16480_REG(0x00, 0x18)
> +#define ADIS16480_REG_X_ACCEL_OUT ADIS16480_REG(0x00, 0x1C)
> +#define ADIS16480_REG_Y_ACCEL_OUT ADIS16480_REG(0x00, 0x20)
> +#define ADIS16480_REG_Z_ACCEL_OUT ADIS16480_REG(0x00, 0x24)
> +#define ADIS16480_REG_X_MAGN_OUT ADIS16480_REG(0x00, 0x28)
> +#define ADIS16480_REG_Y_MAGN_OUT ADIS16480_REG(0x00, 0x2A)
> +#define ADIS16480_REG_Z_MAGN_OUT ADIS16480_REG(0x00, 0x2C)
> +#define ADIS16480_REG_BAROM_OUT ADIS16480_REG(0x00, 0x2E)
> +#define ADIS16480_REG_X_DELTAANG_OUT ADIS16480_REG(0x00, 0x40)
> +#define ADIS16480_REG_Y_DELTAANG_OUT ADIS16480_REG(0x00, 0x44)
> +#define ADIS16480_REG_Z_DELTAANG_OUT ADIS16480_REG(0x00, 0x48)
> +#define ADIS16480_REG_X_DELTAVEL_OUT ADIS16480_REG(0x00, 0x4C)
> +#define ADIS16480_REG_Y_DELTAVEL_OUT ADIS16480_REG(0x00, 0x50)
> +#define ADIS16480_REG_Z_DELTAVEL_OUT ADIS16480_REG(0x00, 0x54)
> +#define ADIS16480_REG_PROD_ID ADIS16480_REG(0x00, 0x7E)
> +
> +#define ADIS16480_REG_X_GYRO_SCALE ADIS16480_REG(0x02, 0x04)
> +#define ADIS16480_REG_Y_GYRO_SCALE ADIS16480_REG(0x02, 0x06)
> +#define ADIS16480_REG_Z_GYRO_SCALE ADIS16480_REG(0x02, 0x08)
> +#define ADIS16480_REG_X_ACCEL_SCALE ADIS16480_REG(0x02, 0x0A)
> +#define ADIS16480_REG_Y_ACCEL_SCALE ADIS16480_REG(0x02, 0x0C)
> +#define ADIS16480_REG_Z_ACCEL_SCALE ADIS16480_REG(0x02, 0x0E)
> +#define ADIS16480_REG_X_GYRO_BIAS ADIS16480_REG(0x02, 0x10)
> +#define ADIS16480_REG_Y_GYRO_BIAS ADIS16480_REG(0x02, 0x14)
> +#define ADIS16480_REG_Z_GYRO_BIAS ADIS16480_REG(0x02, 0x18)
> +#define ADIS16480_REG_X_ACCEL_BIAS ADIS16480_REG(0x02, 0x1C)
> +#define ADIS16480_REG_Y_ACCEL_BIAS ADIS16480_REG(0x02, 0x20)
> +#define ADIS16480_REG_Z_ACCEL_BIAS ADIS16480_REG(0x02, 0x24)
> +#define ADIS16480_REG_X_HARD_IRON ADIS16480_REG(0x02, 0x28)
> +#define ADIS16480_REG_Y_HARD_IRON ADIS16480_REG(0x02, 0x2A)
> +#define ADIS16480_REG_Z_HARD_IRON ADIS16480_REG(0x02, 0x2C)
> +#define ADIS16480_REG_BAROM_BIAS ADIS16480_REG(0x02, 0x40)
> +#define ADIS16480_REG_FLASH_CNT ADIS16480_REG(0x02, 0x7C)
> +
> +#define ADIS16480_REG_GLOB_CMD ADIS16480_REG(0x03, 0x02)
> +#define ADIS16480_REG_FNCTIO_CTRL ADIS16480_REG(0x03, 0x06)
> +#define ADIS16480_REG_GPIO_CTRL ADIS16480_REG(0x03, 0x08)
> +#define ADIS16480_REG_CONFIG ADIS16480_REG(0x03, 0x0A)
> +#define ADIS16480_REG_DEC_RATE ADIS16480_REG(0x03, 0x0C)
> +#define ADIS16480_REG_SLP_CNT ADIS16480_REG(0x03, 0x10)
> +#define ADIS16480_REG_FILTER_BNK0 ADIS16480_REG(0x03, 0x16)
> +#define ADIS16480_REG_FILTER_BNK1 ADIS16480_REG(0x03, 0x18)
> +#define ADIS16480_REG_ALM_CNFG0 ADIS16480_REG(0x03, 0x20)
> +#define ADIS16480_REG_ALM_CNFG1 ADIS16480_REG(0x03, 0x22)
> +#define ADIS16480_REG_ALM_CNFG2 ADIS16480_REG(0x03, 0x24)
> +#define ADIS16480_REG_XG_ALM_MAGN ADIS16480_REG(0x03, 0x28)
> +#define ADIS16480_REG_YG_ALM_MAGN ADIS16480_REG(0x03, 0x2A)
> +#define ADIS16480_REG_ZG_ALM_MAGN ADIS16480_REG(0x03, 0x2C)
> +#define ADIS16480_REG_XA_ALM_MAGN ADIS16480_REG(0x03, 0x2E)
> +#define ADIS16480_REG_YA_ALM_MAGN ADIS16480_REG(0x03, 0x30)
> +#define ADIS16480_REG_ZA_ALM_MAGN ADIS16480_REG(0x03, 0x32)
> +#define ADIS16480_REG_XM_ALM_MAGN ADIS16480_REG(0x03, 0x34)
> +#define ADIS16480_REG_YM_ALM_MAGN ADIS16480_REG(0x03, 0x36)
> +#define ADIS16480_REG_ZM_ALM_MAGN ADIS16480_REG(0x03, 0x38)
> +#define ADIS16480_REG_BR_ALM_MAGN ADIS16480_REG(0x03, 0x3A)
> +#define ADIS16480_REG_FIRM_REV ADIS16480_REG(0x03, 0x78)
> +#define ADIS16480_REG_FIRM_DM ADIS16480_REG(0x03, 0x7A)
> +#define ADIS16480_REG_FIRM_Y ADIS16480_REG(0x03, 0x7C)
> +
> +#define ADIS16480_REG_SERIAL_NUM ADIS16480_REG(0x04, 0x20)
> +
> +/* Each filter coefficent bank spans two pages */
> +#define ADIS16480_FIR_COEF(page) (x < 60 ? ADIS16480_REG(page, (x) + 8) : \
> + ADIS16480_REG((page) + 1, (x) - 60 + 8))
> +#define ADIS16480_FIR_COEF_A(x) ADIS16480_FIR_COEF(0x05, (x))
> +#define ADIS16480_FIR_COEF_B(x) ADIS16480_FIR_COEF(0x07, (x))
> +#define ADIS16480_FIR_COEF_C(x) ADIS16480_FIR_COEF(0x09, (x))
> +#define ADIS16480_FIR_COEF_D(x) ADIS16480_FIR_COEF(0x0B, (x))
> +
> +struct adis16480_chip_info {
> + unsigned int num_channels;
> + const struct iio_chan_spec *channels;
> +};
> +
> +struct adis16480 {
> + const struct adis16480_chip_info *chip_info;
> +
> + struct adis adis;
> +};
> +
> +#ifdef CONFIG_DEBUG_FS
> +
> +static ssize_t adis16480_show_firmware_revision(struct file *file,
> + char __user *userbuf, size_t count, loff_t *ppos)
> +{
> + struct adis16480 *adis16480 = file->private_data;
> + char buf[6];
> + size_t len;
> + u16 rev;
> + int ret;
> +
> + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
> + if (ret < 0)
> + return ret;
> +
> + len = snprintf(buf, sizeof(buf), "%x.%x\n", rev >> 8, rev & 0xff);
> +
> + return simple_read_from_buffer(userbuf, count, ppos, buf, len);
> +}
> +
> +static const struct file_operations adis16480_firmware_revision_fops = {
> + .open = simple_open,
> + .read = adis16480_show_firmware_revision,
> + .llseek = default_llseek,
> + .owner = THIS_MODULE,
> +};
> +
> +static ssize_t adis16480_show_firmware_date(struct file *file,
> + char __user *userbuf, size_t count, loff_t *ppos)
> +{
> + struct adis16480 *adis16480 = file->private_data;
> + u16 md, year;
> + char buf[12];
> + size_t len;
> + int ret;
> +
> + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_Y, &year);
> + if (ret < 0)
> + return ret;
> +
> + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
> + if (ret < 0)
> + return ret;
> +
> + len = snprintf(buf, sizeof(buf), "%.2x-%.2x-%.4x\n",
> + md >> 8, md & 0xff, year);
> +
> + return simple_read_from_buffer(userbuf, count, ppos, buf, len);
> +}
> +
> +static const struct file_operations adis16480_firmware_date_fops = {
> + .open = simple_open,
> + .read = adis16480_show_firmware_date,
> + .llseek = default_llseek,
> + .owner = THIS_MODULE,
> +};
> +
> +static int adis16480_show_serial_number(void *arg, u64 *val)
> +{
> + struct adis16480 *adis16480 = arg;
> + u16 serial;
> + int ret;
> +
> + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_SERIAL_NUM,
> + &serial);
> + if (ret < 0)
> + return ret;
> +
> + *val = serial;
> +
> + return 0;
> +}
> +DEFINE_SIMPLE_ATTRIBUTE(adis16480_serial_number_fops,
> + adis16480_show_serial_number, NULL, "0x%.4llx\n");
> +
> +static int adis16480_show_product_id(void *arg, u64 *val)
> +{
> + struct adis16480 *adis16480 = arg;
> + u16 prod_id;
> + int ret;
> +
> + ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_PROD_ID,
> + &prod_id);
> + if (ret < 0)
> + return ret;
> +
> + *val = prod_id;
> +
> + return 0;
> +}
> +DEFINE_SIMPLE_ATTRIBUTE(adis16480_product_id_fops,
> + adis16480_show_product_id, NULL, "%llu\n");
> +
> +static int adis16480_show_flash_count(void *arg, u64 *val)
> +{
> + struct adis16480 *adis16480 = arg;
> + u32 flash_count;
> + int ret;
> +
> + ret = adis_read_reg_32(&adis16480->adis, ADIS16480_REG_FLASH_CNT,
> + &flash_count);
> + if (ret < 0)
> + return ret;
> +
> + *val = flash_count;
> +
> + return 0;
> +}
> +DEFINE_SIMPLE_ATTRIBUTE(adis16480_flash_count_fops,
> + adis16480_show_flash_count, NULL, "%lld\n");
> +
> +static int adis16480_debugfs_init(struct iio_dev *indio_dev)
> +{
> + struct adis16480 *adis16480 = iio_priv(indio_dev);
> +
> + debugfs_create_file("firmware_revision", 0400,
> + indio_dev->debugfs_dentry, adis16480,
> + &adis16480_firmware_revision_fops);
> + debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry,
> + adis16480, &adis16480_firmware_date_fops);
> + debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry,
> + adis16480, &adis16480_serial_number_fops);
> + debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry,
> + adis16480, &adis16480_product_id_fops);
> + debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry,
> + adis16480, &adis16480_flash_count_fops);
> +
> + return 0;
> +}
> +
> +#else
> +
> +static int adis16480_debugfs_init(struct iio_dev *indio_dev)
> +{
> + return 0;
> +}
> +
> +#endif
> +
> +static int adis16480_set_freq(struct adis16480 *st, unsigned int freq)
> +{
> + unsigned int t;
> +
> + t = 2460000 / freq;
> + if (t > 2048)
> + t = 2048;
> +
> + if (t != 0)
> + t--;
> +
> + return adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
> +}
> +
> +static int adis16480_get_freq(struct adis16480 *st, unsigned int *freq)
> +{
> + uint16_t t;
> + int ret;
> +
> + ret = adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
> + if (ret < 0)
> + return ret;
> +
> + *freq = 2460000 / (t + 1);
> +
> + return 0;
> +}
> +
> +static ssize_t adis16480_read_frequency(struct device *dev,
> + struct device_attribute *attr,
> + char *buf)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct adis16480 *st = iio_priv(indio_dev);
> + unsigned int freq;
> + int ret;
> +
> + ret = adis16480_get_freq(st, &freq);
> + if (ret < 0)
> + return ret;
> +
> + return sprintf(buf, "%d.%.3d\n", freq / 1000, freq % 1000);
> +}
> +
> +static ssize_t adis16480_write_frequency(struct device *dev,
> + struct device_attribute *attr,
> + const char *buf,
> + size_t len)
> +{
> + struct iio_dev *indio_dev = dev_to_iio_dev(dev);
> + struct adis16480 *st = iio_priv(indio_dev);
> + int freq_int, freq_fract;
> + long val;
> + int ret;
> +
> + ret = iio_str_to_fixpoint(buf, 100, &freq_int, &freq_fract);
> + if (ret)
> + return ret;
> +
> + val = freq_int * 1000 + freq_fract;
> +
> + if (val <= 0)
> + return -EINVAL;
> +
> + ret = adis16480_set_freq(st, val);
> +
> + return ret ? ret : len;
> +}
> +
> +static IIO_DEV_ATTR_SAMP_FREQ(S_IWUSR | S_IRUGO,
> + adis16480_read_frequency,
> + adis16480_write_frequency);
> +
> +enum {
> + ADIS16480_SCAN_GYRO_X,
> + ADIS16480_SCAN_GYRO_Y,
> + ADIS16480_SCAN_GYRO_Z,
> + ADIS16480_SCAN_ACCEL_X,
> + ADIS16480_SCAN_ACCEL_Y,
> + ADIS16480_SCAN_ACCEL_Z,
> + ADIS16480_SCAN_MAGN_X,
> + ADIS16480_SCAN_MAGN_Y,
> + ADIS16480_SCAN_MAGN_Z,
> + ADIS16480_SCAN_BARO,
> + ADIS16480_SCAN_TEMP,
> +};
> +
> +static const unsigned int adis16480_calibbias_regs[] = {
> + [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_BIAS,
> + [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_BIAS,
> + [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_BIAS,
> + [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_BIAS,
> + [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_BIAS,
> + [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_BIAS,
> + [ADIS16480_SCAN_MAGN_X] = ADIS16480_REG_X_HARD_IRON,
> + [ADIS16480_SCAN_MAGN_Y] = ADIS16480_REG_Y_HARD_IRON,
> + [ADIS16480_SCAN_MAGN_Z] = ADIS16480_REG_Z_HARD_IRON,
> + [ADIS16480_SCAN_BARO] = ADIS16480_REG_BAROM_BIAS,
> +};
> +
> +static const unsigned int adis16480_calibscale_regs[] = {
> + [ADIS16480_SCAN_GYRO_X] = ADIS16480_REG_X_GYRO_SCALE,
> + [ADIS16480_SCAN_GYRO_Y] = ADIS16480_REG_Y_GYRO_SCALE,
> + [ADIS16480_SCAN_GYRO_Z] = ADIS16480_REG_Z_GYRO_SCALE,
> + [ADIS16480_SCAN_ACCEL_X] = ADIS16480_REG_X_ACCEL_SCALE,
> + [ADIS16480_SCAN_ACCEL_Y] = ADIS16480_REG_Y_ACCEL_SCALE,
> + [ADIS16480_SCAN_ACCEL_Z] = ADIS16480_REG_Z_ACCEL_SCALE,
> +};
> +
> +static int adis16480_set_calibbias(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int bias)
> +{
> + unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
> + struct adis16480 *st = iio_priv(indio_dev);
> +
> + switch (chan->type) {
> + case IIO_MAGN:
> + case IIO_PRESSURE:
> + if (bias < -0x8000 || bias >= 0x8000)
> + return -EINVAL;
> + return adis_write_reg_16(&st->adis, reg, bias);
> + case IIO_ANGL_VEL:
> + case IIO_ACCEL:
> + return adis_write_reg_32(&st->adis, reg, bias);
> + default:
> + break;
> + }
> +
> + return -EINVAL;
> +}
> +
> +static int adis16480_get_calibbias(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int *bias)
> +{
> + unsigned int reg = adis16480_calibbias_regs[chan->scan_index];
> + struct adis16480 *st = iio_priv(indio_dev);
> + uint16_t val16;
> + uint32_t val32;
> + int ret;
> +
> + switch (chan->type) {
> + case IIO_MAGN:
> + case IIO_PRESSURE:
> + ret = adis_read_reg_16(&st->adis, reg, &val16);
> + *bias = sign_extend32(val16, 15);
> + break;
> + case IIO_ANGL_VEL:
> + case IIO_ACCEL:
> + ret = adis_read_reg_32(&st->adis, reg, &val32);
> + *bias = sign_extend32(val32, 31);
> + break;
> + default:
> + ret = -EINVAL;
> + }
> +
> + if (ret < 0)
> + return ret;
> +
> + return IIO_VAL_INT;
> +}
> +
> +static int adis16480_set_calibscale(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int scale)
> +{
> + unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
> + struct adis16480 *st = iio_priv(indio_dev);
> +
> + if (scale < -0x8000 || scale >= 0x8000)
> + return -EINVAL;
> +
> + return adis_write_reg_16(&st->adis, reg, scale);
> +}
> +
> +static int adis16480_get_calibscale(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int *scale)
> +{
> + unsigned int reg = adis16480_calibscale_regs[chan->scan_index];
> + struct adis16480 *st = iio_priv(indio_dev);
> + uint16_t val16;
> + int ret;
> +
> + ret = adis_read_reg_16(&st->adis, reg, &val16);
> + if (ret < 0)
> + return ret;
> +
> + *scale = sign_extend32(val16, 15);
> + return IIO_VAL_INT;
> +}
> +
> +static const unsigned int adis16480_def_filter_freqs[] = {
> + 310,
> + 55,
> + 275,
> + 63,
> +};
> +
> +static const unsigned int ad16480_filter_data[][2] = {
> + [ADIS16480_SCAN_GYRO_X] = { ADIS16480_REG_FILTER_BNK0, 0 },
> + [ADIS16480_SCAN_GYRO_Y] = { ADIS16480_REG_FILTER_BNK0, 3 },
> + [ADIS16480_SCAN_GYRO_Z] = { ADIS16480_REG_FILTER_BNK0, 6 },
> + [ADIS16480_SCAN_ACCEL_X] = { ADIS16480_REG_FILTER_BNK0, 9 },
> + [ADIS16480_SCAN_ACCEL_Y] = { ADIS16480_REG_FILTER_BNK0, 12 },
> + [ADIS16480_SCAN_ACCEL_Z] = { ADIS16480_REG_FILTER_BNK1, 0 },
> + [ADIS16480_SCAN_MAGN_X] = { ADIS16480_REG_FILTER_BNK1, 3 },
> + [ADIS16480_SCAN_MAGN_Y] = { ADIS16480_REG_FILTER_BNK1, 6 },
> + [ADIS16480_SCAN_MAGN_Z] = { ADIS16480_REG_FILTER_BNK1, 9 },
> +};
> +
> +static int adis16480_get_filter_freq(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int *freq)
> +{
> + struct adis16480 *st = iio_priv(indio_dev);
> + unsigned int enable_mask, offset, reg;
> + uint16_t val;
> + int ret;
> +
> + reg = ad16480_filter_data[chan->scan_index][0];
> + offset = ad16480_filter_data[chan->scan_index][1];
> + enable_mask = BIT(offset + 2);
> +
> + ret = adis_read_reg_16(&st->adis, reg, &val);
> + if (ret < 0)
> + return ret;
> +
> + if (!(val & enable_mask))
> + *freq = 0;
> + else
> + *freq = adis16480_def_filter_freqs[(val >> offset) & 0x3];
> +
> + return IIO_VAL_INT;
> +}
> +
> +static int adis16480_set_filter_freq(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, unsigned int freq)
> +{
> + struct adis16480 *st = iio_priv(indio_dev);
> + unsigned int enable_mask, offset, reg;
> + unsigned int diff, best_diff;
> + unsigned int i, best_freq;
> + uint16_t val;
> + int ret;
> +
> + reg = ad16480_filter_data[chan->scan_index][0];
> + offset = ad16480_filter_data[chan->scan_index][1];
> + enable_mask = BIT(offset + 2);
> +
> + ret = adis_read_reg_16(&st->adis, reg, &val);
> + if (ret < 0)
> + return ret;
> +
> + if (freq == 0) {
> + val &= ~enable_mask;
> + } else {
> + best_freq = 0;
> + best_diff = 310;
> + for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
> + if (adis16480_def_filter_freqs[i] >= freq) {
> + diff = adis16480_def_filter_freqs[i] - freq;
> + if (diff < best_diff) {
> + best_diff = diff;
> + best_freq = i;
> + }
> + }
> + }
> +
> + val &= ~(0x3 << offset);
> + val |= best_freq << offset;
> + val |= enable_mask;
> + }
> +
> + return adis_write_reg_16(&st->adis, reg, val);
> +}
> +
> +static int adis16480_read_raw(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int *val, int *val2, long info)
> +{
> + switch (info) {
> + case IIO_CHAN_INFO_RAW:
> + return adis_single_conversion(indio_dev, chan, 0, val);
> + case IIO_CHAN_INFO_SCALE:
> + switch (chan->type) {
> + case IIO_ANGL_VEL:
> + *val = 0;
> + *val2 = IIO_DEGREE_TO_RAD(20000); /* 0.02 degree/sec */
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_ACCEL:
> + *val = 0;
> + *val2 = IIO_G_TO_M_S_2(800); /* 0.8 mg */
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_MAGN:
> + *val = 0;
> + *val2 = 100; /* 0.0001 gauss */
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_TEMP:
> + *val = 5;
> + *val2 = 650000; /* 5.65 milli degree Celsius */
> + return IIO_VAL_INT_PLUS_MICRO;
> + case IIO_PRESSURE:
> + *val = 0;
> + *val2 = 4000; /* 40ubar = 0.004 kPa */
> + return IIO_VAL_INT_PLUS_MICRO;
> + default:
> + return -EINVAL;
> + }
> + case IIO_CHAN_INFO_OFFSET:
> + /* Only the temperature channel has a offset */
> + *val = 4425; /* 25 degree Celsius = 0x0000 */
> + return IIO_VAL_INT;
> + case IIO_CHAN_INFO_CALIBBIAS:
> + return adis16480_get_calibbias(indio_dev, chan, val);
> + case IIO_CHAN_INFO_CALIBSCALE:
> + return adis16480_get_calibscale(indio_dev, chan, val);
> + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
> + return adis16480_get_filter_freq(indio_dev, chan, val);
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +static int adis16480_write_raw(struct iio_dev *indio_dev,
> + const struct iio_chan_spec *chan, int val, int val2, long info)
> +{
> + switch (info) {
> + case IIO_CHAN_INFO_CALIBBIAS:
> + return adis16480_set_calibbias(indio_dev, chan, val);
> + case IIO_CHAN_INFO_CALIBSCALE:
> + return adis16480_set_calibscale(indio_dev, chan, val);
> + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
> + return adis16480_set_filter_freq(indio_dev, chan, val);
> + default:
> + return -EINVAL;
> + }
> +}
> +
> +#define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info, _bits) \
> + { \
> + .type = (_type), \
> + .modified = 1, \
> + .channel2 = (_mod), \
> + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
> + IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
> + IIO_CHAN_INFO_SCALE_SHARED_BIT | \
> + _info, \
> + .address = (_address), \
> + .scan_index = (_si), \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = (_bits), \
> + .storagebits = (_bits), \
> + .endianness = IIO_BE, \
> + }, \
> + }
> +
> +#define ADIS16480_GYRO_CHANNEL(_mod) \
> + ADIS16480_MOD_CHANNEL(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \
> + ADIS16480_REG_ ## _mod ## _GYRO_OUT, ADIS16480_SCAN_GYRO_ ## _mod, \
> + IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT | \
> + IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, \
> + 32)
> +
> +#define ADIS16480_ACCEL_CHANNEL(_mod) \
> + ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
> + ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
> + IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT | \
> + IIO_CHAN_INFO_CALIBSCALE_SEPARATE_BIT, \
> + 32)
> +
> +#define ADIS16480_MAGN_CHANNEL(_mod) \
> + ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
> + ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
> + IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SEPARATE_BIT, \
> + 16)
> +
> +#define ADIS16480_PRESSURE_CHANNEL() \
> + { \
> + .type = IIO_PRESSURE, \
> + .indexed = 1, \
> + .channel = 0, \
> + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
> + IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT | \
> + IIO_CHAN_INFO_SCALE_SEPARATE_BIT, \
> + .address = ADIS16480_REG_BAROM_OUT, \
> + .scan_index = ADIS16480_SCAN_BARO, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 32, \
> + .storagebits = 32, \
> + .endianness = IIO_BE, \
> + }, \
> + }
> +
> +#define ADIS16480_TEMP_CHANNEL() { \
> + .type = IIO_TEMP, \
> + .indexed = 1, \
> + .channel = 0, \
> + .info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT | \
> + IIO_CHAN_INFO_SCALE_SEPARATE_BIT | \
> + IIO_CHAN_INFO_OFFSET_SEPARATE_BIT, \
> + .address = ADIS16480_REG_TEMP_OUT, \
> + .scan_index = ADIS16480_SCAN_TEMP, \
> + .scan_type = { \
> + .sign = 's', \
> + .realbits = 16, \
> + .storagebits = 16, \
> + .endianness = IIO_BE, \
> + }, \
> + }
> +
> +static const struct iio_chan_spec adis16480_channels[] = {
> + ADIS16480_GYRO_CHANNEL(X),
> + ADIS16480_GYRO_CHANNEL(Y),
> + ADIS16480_GYRO_CHANNEL(Z),
> + ADIS16480_ACCEL_CHANNEL(X),
> + ADIS16480_ACCEL_CHANNEL(Y),
> + ADIS16480_ACCEL_CHANNEL(Z),
> + ADIS16480_MAGN_CHANNEL(X),
> + ADIS16480_MAGN_CHANNEL(Y),
> + ADIS16480_MAGN_CHANNEL(Z),
> + ADIS16480_PRESSURE_CHANNEL(),
> + ADIS16480_TEMP_CHANNEL(),
> + IIO_CHAN_SOFT_TIMESTAMP(11)
> +};
> +
> +static const struct iio_chan_spec adis16485_channels[] = {
> + ADIS16480_GYRO_CHANNEL(X),
> + ADIS16480_GYRO_CHANNEL(Y),
> + ADIS16480_GYRO_CHANNEL(Z),
> + ADIS16480_ACCEL_CHANNEL(X),
> + ADIS16480_ACCEL_CHANNEL(Y),
> + ADIS16480_ACCEL_CHANNEL(Z),
> + ADIS16480_TEMP_CHANNEL(),
> + IIO_CHAN_SOFT_TIMESTAMP(7)
> +};
> +
> +enum adis16480_variant {
> + ADIS16375,
> + ADIS16480,
> + ADIS16485,
> + ADIS16488,
> +};
> +
> +static const struct adis16480_chip_info adis16480_chip_info[] = {
> + [ADIS16375] = {
> + .channels = adis16485_channels,
> + .num_channels = ARRAY_SIZE(adis16485_channels),
> + },
> + [ADIS16480] = {
> + .channels = adis16480_channels,
> + .num_channels = ARRAY_SIZE(adis16480_channels),
> + },
> + [ADIS16485] = {
> + .channels = adis16485_channels,
> + .num_channels = ARRAY_SIZE(adis16485_channels),
> + },
> + [ADIS16488] = {
> + .channels = adis16480_channels,
> + .num_channels = ARRAY_SIZE(adis16480_channels),
> + },
> +};
> +
> +static struct attribute *adis16480_attributes[] = {
> + &iio_dev_attr_sampling_frequency.dev_attr.attr,
> + NULL
> +};
> +
> +static const struct attribute_group adis16480_attribute_group = {
> + .attrs = adis16480_attributes,
> +};
> +
> +static const struct iio_info adis16480_info = {
> + .attrs = &adis16480_attribute_group,
> + .read_raw = &adis16480_read_raw,
> + .write_raw = &adis16480_write_raw,
> + .update_scan_mode = adis_update_scan_mode,
> + .driver_module = THIS_MODULE,
> +};
> +
> +static int adis16480_stop_device(struct iio_dev *indio_dev)
> +{
> + struct adis16480 *st = iio_priv(indio_dev);
> + int ret;
> +
> + ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
> + if (ret)
> + dev_err(&indio_dev->dev,
> + "Could not power down device: %d\n", ret);
> +
> + return ret;
> +}
> +
> +static int adis16480_enable_irq(struct adis *adis, bool enable)
> +{
> + return adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL,
> + enable ? BIT(3) : 0);
> +}
> +
> +static int adis16480_initial_setup(struct iio_dev *indio_dev)
> +{
> + struct adis16480 *st = iio_priv(indio_dev);
> + uint16_t prod_id;
> + unsigned int device_id;
> + int ret;
> +
> + adis_reset(&st->adis);
> + msleep(70);
> +
> + ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1));
> + if (ret)
> + return ret;
> + msleep(30);
> +
> + ret = adis_check_status(&st->adis);
> + if (ret)
> + return ret;
> +
> + ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id);
> + if (ret)
> + return ret;
> +
> + sscanf(indio_dev->name, "adis%u\n", &device_id);
> +
> + if (prod_id != device_id)
> + dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
> + device_id, prod_id);
> +
> + return 0;
> +}
> +
> +#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
> +#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
> +#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
> +#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
> +#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
> +#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
> +#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
> +#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
> +#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
> +#define ADIS16480_DIAG_STAT_BARO_FAIL 11
> +
> +static const char * const adis16480_status_error_msgs[] = {
> + [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
> + [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
> + [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
> + [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
> + [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
> + [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
> + [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
> + [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
> + [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
> + [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
> +};
> +
> +static const struct adis_data adis16480_data = {
> + .diag_stat_reg = ADIS16480_REG_DIAG_STS,
> + .glob_cmd_reg = ADIS16480_REG_GLOB_CMD,
> + .has_paging = true,
> +
> + .read_delay = 5,
> + .write_delay = 5,
> +
> + .status_error_msgs = adis16480_status_error_msgs,
> + .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |
> + BIT(ADIS16480_DIAG_STAT_BARO_FAIL),
> +
> + .enable_irq = adis16480_enable_irq,
> +};
> +
> +static int __devinit adis16480_probe(struct spi_device *spi)
> +{
> + const struct spi_device_id *id = spi_get_device_id(spi);
> + struct iio_dev *indio_dev;
> + struct adis16480 *st;
> + int ret;
> +
> + indio_dev = iio_device_alloc(sizeof(*st));
> + if (indio_dev == NULL)
> + return -ENOMEM;
> +
> + spi_set_drvdata(spi, indio_dev);
> +
> + st = iio_priv(indio_dev);
> +
> + st->chip_info = &adis16480_chip_info[id->driver_data];
> + indio_dev->dev.parent = &spi->dev;
> + indio_dev->name = spi_get_device_id(spi)->name;
> + indio_dev->channels = st->chip_info->channels;
> + indio_dev->num_channels = st->chip_info->num_channels;
> + indio_dev->info = &adis16480_info;
> + indio_dev->modes = INDIO_DIRECT_MODE;
> +
> + ret = adis_init(&st->adis, indio_dev, spi, &adis16480_data);
> + if (ret)
> + goto error_free_dev;
> +
> + ret = adis_setup_buffer_and_trigger(&st->adis, indio_dev, NULL);
> + if (ret)
> + goto error_free_dev;
> +
> + ret = adis16480_initial_setup(indio_dev);
> + if (ret)
> + goto error_cleanup_buffer;
> +
> + ret = iio_device_register(indio_dev);
> + if (ret)
> + goto error_stop_device;
> +
> + adis16480_debugfs_init(indio_dev);
> +
> + return 0;
> +
> +error_stop_device:
> + adis16480_stop_device(indio_dev);
> +error_cleanup_buffer:
> + adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
> +error_free_dev:
> + iio_device_free(indio_dev);
> + return ret;
> +}
> +
> +static int __devexit adis16480_remove(struct spi_device *spi)
> +{
> + struct iio_dev *indio_dev = spi_get_drvdata(spi);
> + struct adis16480 *st = iio_priv(indio_dev);
> +
> + iio_device_unregister(indio_dev);
> + adis16480_stop_device(indio_dev);
> +
> + adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
> +
> + iio_device_free(indio_dev);
> +
> + return 0;
> +}
> +
> +static const struct spi_device_id adis16480_ids[] = {
> + { "adis16375", ADIS16375 },
> + { "adis16480", ADIS16480 },
> + { "adis16485", ADIS16485 },
> + { "adis16488", ADIS16488 },
> + { }
> +};
> +MODULE_DEVICE_TABLE(spi, adis16480_ids);
> +
> +static struct spi_driver adis16480_driver = {
> + .driver = {
> + .name = "adis16480",
> + .owner = THIS_MODULE,
> + },
> + .id_table = adis16480_ids,
> + .probe = adis16480_probe,
> + .remove = __devexit_p(adis16480_remove),
> +};
> +module_spi_driver(adis16480_driver);
> +
> +MODULE_AUTHOR("Lars-Peter Clausen <lars@xxxxxxxxxx>");
> +MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
> +MODULE_LICENSE("GPL v2");
> diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h
> index e82cd08..ff781dc 100644
> --- a/include/linux/iio/imu/adis.h
> +++ b/include/linux/iio/imu/adis.h
> @@ -20,6 +20,8 @@
> #define ADIS_PAGE_SIZE 0x80
> #define ADIS_REG_PAGE_ID 0x00
>
> +struct adis;
> +
> /**
> * struct adis_data - ADIS chip variant specific data
> * @read_delay: SPI delay for read operations in us
> @@ -44,6 +46,8 @@ struct adis_data {
> const char * const *status_error_msgs;
> unsigned int status_error_mask;
>
> + int (*enable_irq)(struct adis *adis, bool enable);
> +
> bool has_paging;
> };
>
>
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