The ADIS16266 is mostly register compatible to the ADIS16260. The
difference is a different gyroscope scale factor as well not having the
relative angular displacement channel.
Signed-off-by: Lars-Peter Clausen <lars@xxxxxxxxxx>
---
drivers/iio/gyro/adis16260.c | 137 +++++++++++++++++++++++++++++++------------
1 file changed, 98 insertions(+), 39 deletions(-)
diff --git a/drivers/iio/gyro/adis16260.c b/drivers/iio/gyro/adis16260.c
index 75fe0ed..00c6ad9 100644
--- a/drivers/iio/gyro/adis16260.c
+++ b/drivers/iio/gyro/adis16260.c
@@ -101,19 +101,24 @@
#define ADIS16260_SCAN_TEMP 3
#define ADIS16260_SCAN_ANGL 4
-/* Power down the device */
-static int adis16260_stop_device(struct iio_dev *indio_dev)
-{
- struct adis *adis = iio_priv(indio_dev);
- int ret;
- u16 val = ADIS16260_SLP_CNT_POWER_OFF;
+struct adis16260_chip_info {
+ unsigned int gyro_max_val;
+ unsigned int gyro_max_scale;
+ const struct iio_chan_spec *channels;
+ unsigned int num_channels;
+};
- ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);
- if (ret)
- dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
+struct adis16260 {
+ const struct adis16260_chip_info *info;
- return ret;
-}
+ struct adis adis;
+};
+
+enum adis16260_type {
+ ADIS16251,
+ ADIS16260,
+ ADIS16266,
+};
static const struct iio_chan_spec adis16260_channels[] = {
ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
@@ -131,6 +136,55 @@ static const struct iio_chan_spec adis16260_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(5),
};
+static const struct iio_chan_spec adis16266_channels[] = {
+ ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
+ BIT(IIO_CHAN_INFO_CALIBBIAS) |
+ BIT(IIO_CHAN_INFO_CALIBSCALE),
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),
+ ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
+ ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
+ ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,
+ BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),
+ IIO_CHAN_SOFT_TIMESTAMP(4),
+};
+
+static const struct adis16260_chip_info adis16260_chip_info_table[] = {
+ [ADIS16251] = {
+ .gyro_max_scale = 80,
+ .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
+ .channels = adis16260_channels,
+ .num_channels = ARRAY_SIZE(adis16260_channels),
+ },
+ [ADIS16260] = {
+ .gyro_max_scale = 320,
+ .gyro_max_val = IIO_RAD_TO_DEGREE(4368),
+ .channels = adis16260_channels,
+ .num_channels = ARRAY_SIZE(adis16260_channels),
+ },
+ [ADIS16266] = {
+ .gyro_max_scale = 14000,
+ .gyro_max_val = IIO_RAD_TO_DEGREE(3357),
+ .channels = adis16266_channels,
+ .num_channels = ARRAY_SIZE(adis16266_channels),
+ },
+};
+
+/* Power down the device */
+static int adis16260_stop_device(struct iio_dev *indio_dev)
+{
+ struct adis16260 *adis16260 = iio_priv(indio_dev);
+ int ret;
+ u16 val = ADIS16260_SLP_CNT_POWER_OFF;
+
+ ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);
+ if (ret)
+ dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");
+
+ return ret;
+}
+
static const u8 adis16260_addresses[][2] = {
[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },
};
@@ -140,7 +194,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
int *val, int *val2,
long mask)
{
- struct adis *adis = iio_priv(indio_dev);
+ struct adis16260 *adis16260 = iio_priv(indio_dev);
+ const struct adis16260_chip_info *info = adis16260->info;
+ struct adis *adis = &adis16260->adis;
int ret;
u8 addr;
s16 val16;
@@ -152,15 +208,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev,
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
- *val = 0;
- if (spi_get_device_id(adis->spi)->driver_data) {
- /* 0.01832 degree / sec */
- *val2 = IIO_DEGREE_TO_RAD(18320);
- } else {
- /* 0.07326 degree / sec */
- *val2 = IIO_DEGREE_TO_RAD(73260);
- }
- return IIO_VAL_INT_PLUS_MICRO;
+ *val = info->gyro_max_scale;
+ *val2 = info->gyro_max_val;
+ return IIO_VAL_FRACTIONAL;
case IIO_INCLI:
*val = 0;
*val2 = IIO_DEGREE_TO_RAD(36630);
@@ -224,7 +274,8 @@ static int adis16260_write_raw(struct iio_dev *indio_dev,
int val2,
long mask)
{
- struct adis *adis = iio_priv(indio_dev);
+ struct adis16260 *adis16260 = iio_priv(indio_dev);
+ struct adis *adis = &adis16260->adis;
int ret;
u8 addr;
u8 t;
@@ -305,35 +356,42 @@ static const struct adis_data adis16260_data = {
static int adis16260_probe(struct spi_device *spi)
{
+ const struct spi_device_id *id;
+ struct adis16260 *adis16260;
struct iio_dev *indio_dev;
- struct adis *adis;
int ret;
+ id = spi_get_device_id(spi);
+ if (!id)
+ return -ENODEV;
+
/* setup the industrialio driver allocated elements */
- indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));
+ indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));
if (!indio_dev)
return -ENOMEM;
- adis = iio_priv(indio_dev);
+ adis16260 = iio_priv(indio_dev);
/* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
- indio_dev->name = spi_get_device_id(spi)->name;
+ adis16260->info = &adis16260_chip_info_table[id->driver_data];
+
+ indio_dev->name = id->name;
indio_dev->dev.parent = &spi->dev;
indio_dev->info = &adis16260_info;
- indio_dev->channels = adis16260_channels;
- indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);
+ indio_dev->channels = adis16260->info->channels;
+ indio_dev->num_channels = adis16260->info->num_channels;
indio_dev->modes = INDIO_DIRECT_MODE;
- ret = adis_init(adis, indio_dev, spi, &adis16260_data);
+ ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);
if (ret)
return ret;
- ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);
+ ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);
if (ret)
return ret;
/* Get the device into a sane initial state */
- ret = adis_initial_startup(adis);
+ ret = adis_initial_startup(&adis16260->adis);
if (ret)
goto error_cleanup_buffer_trigger;
ret = iio_device_register(indio_dev);
@@ -343,18 +401,18 @@ static int adis16260_probe(struct spi_device *spi)
return 0;
error_cleanup_buffer_trigger:
- adis_cleanup_buffer_and_trigger(adis, indio_dev);
+ adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
return ret;
}
static int adis16260_remove(struct spi_device *spi)
{
struct iio_dev *indio_dev = spi_get_drvdata(spi);
- struct adis *adis = iio_priv(indio_dev);
+ struct adis16260 *adis16260 = iio_priv(indio_dev);
iio_device_unregister(indio_dev);
adis16260_stop_device(indio_dev);
- adis_cleanup_buffer_and_trigger(adis, indio_dev);
+ adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);
return 0;
}
@@ -364,11 +422,12 @@ static int adis16260_remove(struct spi_device *spi)
* support for the on chip filtering.
*/
static const struct spi_device_id adis16260_id[] = {
- {"adis16260", 0},
- {"adis16265", 0},
- {"adis16250", 0},
- {"adis16255", 0},
- {"adis16251", 1},
+ {"adis16260", ADIS16260},
+ {"adis16265", ADIS16260},
+ {"adis16266", ADIS16266},
+ {"adis16250", ADIS16260},
+ {"adis16255", ADIS16260},
+ {"adis16251", ADIS16251},
{}
};
MODULE_DEVICE_TABLE(spi, adis16260_id);
--
2.1.4
--
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