unimore/kernel-hacking-2024-linux-steffo
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kernel-hacking-2024-linux-s.../drivers/iio/imu/adis16480.c
Andy Shevchenko cb55b44285 iio: imu: adis16480: Improve getting the optional clocks 
The extended clocks are optional and may not be present for some
configurations supported by this driver. Nevertheless, in case
the clock is provided but some error happens during its getting,
that error handling should be done properly.

Use devm_clk_get_optional() API and report possible errors using
dev_err_probe() to handle properly -EPROBE_DEFER error.

Signed-off-by: Andy Shevchenko <andriy.shevchenko@linux.intel.com>
Reviewed-by: Nuno Sá <nuno.sa@analog.com>
Tested-by: Nuno Sá <nuno.sa@analog.com>
Link: https://lore.kernel.org/r/20220414131559.24694-3-andriy.shevchenko@linux.intel.com
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
2022-04-28 19:22:56 +01:00

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// SPDX-License-Identifier: GPL-2.0-only
/*
* ADIS16480 and similar IMUs driver
*
* Copyright 2012 Analog Devices Inc.
*/
#include <linux/clk.h>
#include <linux/bitfield.h>
#include <linux/interrupt.h>
#include <linux/irq.h>
#include <linux/math.h>
#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/spi/spi.h>
#include <linux/mod_devicetable.h>
#include <linux/module.h>
#include <linux/lcm.h>
#include <linux/property.h>
#include <linux/swab.h>
#include <linux/crc32.h>
#include <linux/iio/iio.h>
#include <linux/iio/buffer.h>
#include <linux/iio/imu/adis.h>
#include <linux/iio/trigger_consumer.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)
/*
* External clock scaling in PPS mode.
* Available only for ADIS1649x devices
*/
#define ADIS16495_REG_SYNC_SCALE ADIS16480_REG(0x03, 0x10)
#define ADIS16495_REG_BURST_CMD ADIS16480_REG(0x00, 0x7C)
#define ADIS16495_BURST_ID 0xA5A5
/* total number of segments in burst */
#define ADIS16495_BURST_MAX_DATA 20
/* spi max speed in burst mode */
#define ADIS16495_BURST_MAX_SPEED 6000000
#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))
/* ADIS16480_REG_FNCTIO_CTRL */
#define ADIS16480_DRDY_SEL_MSK GENMASK(1, 0)
#define ADIS16480_DRDY_SEL(x) FIELD_PREP(ADIS16480_DRDY_SEL_MSK, x)
#define ADIS16480_DRDY_POL_MSK BIT(2)
#define ADIS16480_DRDY_POL(x) FIELD_PREP(ADIS16480_DRDY_POL_MSK, x)
#define ADIS16480_DRDY_EN_MSK BIT(3)
#define ADIS16480_DRDY_EN(x) FIELD_PREP(ADIS16480_DRDY_EN_MSK, x)
#define ADIS16480_SYNC_SEL_MSK GENMASK(5, 4)
#define ADIS16480_SYNC_SEL(x) FIELD_PREP(ADIS16480_SYNC_SEL_MSK, x)
#define ADIS16480_SYNC_EN_MSK BIT(7)
#define ADIS16480_SYNC_EN(x) FIELD_PREP(ADIS16480_SYNC_EN_MSK, x)
#define ADIS16480_SYNC_MODE_MSK BIT(8)
#define ADIS16480_SYNC_MODE(x) FIELD_PREP(ADIS16480_SYNC_MODE_MSK, x)
struct adis16480_chip_info {
unsigned int num_channels;
const struct iio_chan_spec *channels;
unsigned int gyro_max_val;
unsigned int gyro_max_scale;
unsigned int accel_max_val;
unsigned int accel_max_scale;
unsigned int temp_scale;
unsigned int int_clk;
unsigned int max_dec_rate;
const unsigned int *filter_freqs;
bool has_pps_clk_mode;
bool has_sleep_cnt;
const struct adis_data adis_data;
};
enum adis16480_int_pin {
ADIS16480_PIN_DIO1,
ADIS16480_PIN_DIO2,
ADIS16480_PIN_DIO3,
ADIS16480_PIN_DIO4
};
enum adis16480_clock_mode {
ADIS16480_CLK_SYNC,
ADIS16480_CLK_PPS,
ADIS16480_CLK_INT
};
struct adis16480 {
const struct adis16480_chip_info *chip_info;
struct adis adis;
struct clk *ext_clk;
enum adis16480_clock_mode clk_mode;
unsigned int clk_freq;
/* Alignment needed for the timestamp */
__be16 data[ADIS16495_BURST_MAX_DATA] __aligned(8);
};
static const char * const adis16480_int_pin_names[4] = {
[ADIS16480_PIN_DIO1] = "DIO1",
[ADIS16480_PIN_DIO2] = "DIO2",
[ADIS16480_PIN_DIO3] = "DIO3",
[ADIS16480_PIN_DIO4] = "DIO4",
};
static bool low_rate_allow;
module_param(low_rate_allow, bool, 0444);
MODULE_PARM_DESC(low_rate_allow,
"Allow IMU rates below the minimum advisable when external clk is used in PPS mode (default: N)");
#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[7];
size_t len;
u16 rev;
int ret;
ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_REV, &rev);
if (ret)
return ret;
len = scnprintf(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)
return ret;
ret = adis_read_reg_16(&adis16480->adis, ADIS16480_REG_FIRM_DM, &md);
if (ret)
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)
return ret;
*val = serial;
return 0;
}
DEFINE_DEBUGFS_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)
return ret;
*val = prod_id;
return 0;
}
DEFINE_DEBUGFS_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)
return ret;
*val = flash_count;
return 0;
}
DEFINE_DEBUGFS_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);
struct dentry *d = iio_get_debugfs_dentry(indio_dev);
debugfs_create_file_unsafe("firmware_revision", 0400,
d, adis16480, &adis16480_firmware_revision_fops);
debugfs_create_file_unsafe("firmware_date", 0400,
d, adis16480, &adis16480_firmware_date_fops);
debugfs_create_file_unsafe("serial_number", 0400,
d, adis16480, &adis16480_serial_number_fops);
debugfs_create_file_unsafe("product_id", 0400,
d, adis16480, &adis16480_product_id_fops);
debugfs_create_file_unsafe("flash_count", 0400,
d, 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 iio_dev *indio_dev, int val, int val2)
{
struct adis16480 *st = iio_priv(indio_dev);
unsigned int t, sample_rate = st->clk_freq;
int ret;
if (val < 0 || val2 < 0)
return -EINVAL;
t = val * 1000 + val2 / 1000;
if (t == 0)
return -EINVAL;
adis_dev_lock(&st->adis);
/*
* When using PPS mode, the input clock needs to be scaled so that we have an IMU
* sample rate between (optimally) 4000 and 4250. After this, we can use the
* decimation filter to lower the sampling rate in order to get what the user wants.
* Optimally, the user sample rate is a multiple of both the IMU sample rate and
* the input clock. Hence, calculating the sync_scale dynamically gives us better
* chances of achieving a perfect/integer value for DEC_RATE. The math here is:
* 1. lcm of the input clock and the desired output rate.
* 2. get the highest multiple of the previous result lower than the adis max rate.
* 3. The last result becomes the IMU sample rate. Use that to calculate SYNC_SCALE
* and DEC_RATE (to get the user output rate)
*/
if (st->clk_mode == ADIS16480_CLK_PPS) {
unsigned long scaled_rate = lcm(st->clk_freq, t);
int sync_scale;
/*
* If lcm is bigger than the IMU maximum sampling rate there's no perfect
* solution. In this case, we get the highest multiple of the input clock
* lower than the IMU max sample rate.
*/
if (scaled_rate > st->chip_info->int_clk)
scaled_rate = st->chip_info->int_clk / st->clk_freq * st->clk_freq;
else
scaled_rate = st->chip_info->int_clk / scaled_rate * scaled_rate;
/*
* This is not an hard requirement but it's not advised to run the IMU
* with a sample rate lower than 4000Hz due to possible undersampling
* issues. However, there are users that might really want to take the risk.
* Hence, we provide a module parameter for them. If set, we allow sample
* rates lower than 4KHz. By default, we won't allow this and we just roundup
* the rate to the next multiple of the input clock bigger than 4KHz. This
* is done like this as in some cases (when DEC_RATE is 0) might give
* us the closest value to the one desired by the user...
*/
if (scaled_rate < 4000000 && !low_rate_allow)
scaled_rate = roundup(4000000, st->clk_freq);
sync_scale = scaled_rate / st->clk_freq;
ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale);
if (ret)
goto error;
sample_rate = scaled_rate;
}
t = DIV_ROUND_CLOSEST(sample_rate, t);
if (t)
t--;
if (t > st->chip_info->max_dec_rate)
t = st->chip_info->max_dec_rate;
ret = __adis_write_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, t);
error:
adis_dev_unlock(&st->adis);
return ret;
}
static int adis16480_get_freq(struct iio_dev *indio_dev, int *val, int *val2)
{
struct adis16480 *st = iio_priv(indio_dev);
uint16_t t;
int ret;
unsigned int freq, sample_rate = st->clk_freq;
adis_dev_lock(&st->adis);
if (st->clk_mode == ADIS16480_CLK_PPS) {
u16 sync_scale;
ret = __adis_read_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, &sync_scale);
if (ret)
goto error;
sample_rate = st->clk_freq * sync_scale;
}
ret = __adis_read_reg_16(&st->adis, ADIS16480_REG_DEC_RATE, &t);
if (ret)
goto error;
adis_dev_unlock(&st->adis);
freq = DIV_ROUND_CLOSEST(sample_rate, (t + 1));
*val = freq / 1000;
*val2 = (freq % 1000) * 1000;
return IIO_VAL_INT_PLUS_MICRO;
error:
adis_dev_unlock(&st->adis);
return ret;
}
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);
if (ret == 0)
*bias = sign_extend32(val16, 15);
break;
case IIO_ANGL_VEL:
case IIO_ACCEL:
ret = adis_read_reg_32(&st->adis, reg, &val32);
if (ret == 0)
*bias = sign_extend32(val32, 31);
break;
default:
ret = -EINVAL;
}
if (ret)
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)
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 adis16495_def_filter_freqs[] = {
300,
100,
300,
100,
};
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)
return ret;
if (!(val & enable_mask))
*freq = 0;
else
*freq = st->chip_info->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);
adis_dev_lock(&st->adis);
ret = __adis_read_reg_16(&st->adis, reg, &val);
if (ret)
goto out_unlock;
if (freq == 0) {
val &= ~enable_mask;
} else {
best_freq = 0;
best_diff = st->chip_info->filter_freqs[0];
for (i = 0; i < ARRAY_SIZE(adis16480_def_filter_freqs); i++) {
if (st->chip_info->filter_freqs[i] >= freq) {
diff = st->chip_info->filter_freqs[i] - freq;
if (diff < best_diff) {
best_diff = diff;
best_freq = i;
}
}
}
val &= ~(0x3 << offset);
val |= best_freq << offset;
val |= enable_mask;
}
ret = __adis_write_reg_16(&st->adis, reg, val);
out_unlock:
adis_dev_unlock(&st->adis);
return ret;
}
static int adis16480_read_raw(struct iio_dev *indio_dev,
const struct iio_chan_spec *chan, int *val, int *val2, long info)
{
struct adis16480 *st = iio_priv(indio_dev);
unsigned int temp;
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 = st->chip_info->gyro_max_scale;
*val2 = st->chip_info->gyro_max_val;
return IIO_VAL_FRACTIONAL;
case IIO_ACCEL:
*val = st->chip_info->accel_max_scale;
*val2 = st->chip_info->accel_max_val;
return IIO_VAL_FRACTIONAL;
case IIO_MAGN:
*val = 0;
*val2 = 100; /* 0.0001 gauss */
return IIO_VAL_INT_PLUS_MICRO;
case IIO_TEMP:
/*
* +85 degrees Celsius = temp_max_scale
* +25 degrees Celsius = 0
* LSB, 25 degrees Celsius = 60 / temp_max_scale
*/
*val = st->chip_info->temp_scale / 1000;
*val2 = (st->chip_info->temp_scale % 1000) * 1000;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_PRESSURE:
/*
* max scale is 1310 mbar
* max raw value is 32767 shifted for 32bits
*/
*val = 131; /* 1310mbar = 131 kPa */
*val2 = 32767 << 16;
return IIO_VAL_FRACTIONAL;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_OFFSET:
/* Only the temperature channel has a offset */
temp = 25 * 1000000LL; /* 25 degree Celsius = 0x0000 */
*val = DIV_ROUND_CLOSEST_ULL(temp, st->chip_info->temp_scale);
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);
case IIO_CHAN_INFO_SAMP_FREQ:
return adis16480_get_freq(indio_dev, val, val2);
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);
case IIO_CHAN_INFO_SAMP_FREQ:
return adis16480_set_freq(indio_dev, val, val2);
default:
return -EINVAL;
}
}
#define ADIS16480_MOD_CHANNEL(_type, _mod, _address, _si, _info_sep, _bits) \
{ \
.type = (_type), \
.modified = 1, \
.channel2 = (_mod), \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_CALIBBIAS) | \
_info_sep, \
.info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.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, \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
BIT(IIO_CHAN_INFO_CALIBSCALE), \
32)
#define ADIS16480_ACCEL_CHANNEL(_mod) \
ADIS16480_MOD_CHANNEL(IIO_ACCEL, IIO_MOD_ ## _mod, \
ADIS16480_REG_ ## _mod ## _ACCEL_OUT, ADIS16480_SCAN_ACCEL_ ## _mod, \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY) | \
BIT(IIO_CHAN_INFO_CALIBSCALE), \
32)
#define ADIS16480_MAGN_CHANNEL(_mod) \
ADIS16480_MOD_CHANNEL(IIO_MAGN, IIO_MOD_ ## _mod, \
ADIS16480_REG_ ## _mod ## _MAGN_OUT, ADIS16480_SCAN_MAGN_ ## _mod, \
BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \
16)
#define ADIS16480_PRESSURE_CHANNEL() \
{ \
.type = IIO_PRESSURE, \
.indexed = 1, \
.channel = 0, \
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_CALIBBIAS) | \
BIT(IIO_CHAN_INFO_SCALE), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.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_separate = BIT(IIO_CHAN_INFO_RAW) | \
BIT(IIO_CHAN_INFO_SCALE) | \
BIT(IIO_CHAN_INFO_OFFSET), \
.info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \
.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,
ADIS16490,
ADIS16495_1,
ADIS16495_2,
ADIS16495_3,
ADIS16497_1,
ADIS16497_2,
ADIS16497_3,
};
#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 int adis16480_enable_irq(struct adis *adis, bool enable);
#define ADIS16480_DATA(_prod_id, _timeouts, _burst_len) \
{ \
.diag_stat_reg = ADIS16480_REG_DIAG_STS, \
.glob_cmd_reg = ADIS16480_REG_GLOB_CMD, \
.prod_id_reg = ADIS16480_REG_PROD_ID, \
.prod_id = (_prod_id), \
.has_paging = true, \
.read_delay = 5, \
.write_delay = 5, \
.self_test_mask = BIT(1), \
.self_test_reg = ADIS16480_REG_GLOB_CMD, \
.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, \
.timeouts = (_timeouts), \
.burst_reg_cmd = ADIS16495_REG_BURST_CMD, \
.burst_len = (_burst_len), \
.burst_max_speed_hz = ADIS16495_BURST_MAX_SPEED \
}
static const struct adis_timeout adis16485_timeouts = {
.reset_ms = 560,
.sw_reset_ms = 120,
.self_test_ms = 12,
};
static const struct adis_timeout adis16480_timeouts = {
.reset_ms = 560,
.sw_reset_ms = 560,
.self_test_ms = 12,
};
static const struct adis_timeout adis16495_timeouts = {
.reset_ms = 170,
.sw_reset_ms = 130,
.self_test_ms = 40,
};
static const struct adis_timeout adis16495_1_timeouts = {
.reset_ms = 250,
.sw_reset_ms = 210,
.self_test_ms = 20,
};
static const struct adis16480_chip_info adis16480_chip_info[] = {
[ADIS16375] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
/*
* Typically we do IIO_RAD_TO_DEGREE in the denominator, which
* is exactly the same as IIO_DEGREE_TO_RAD in numerator, since
* it gives better approximation. However, in this case we
* cannot do it since it would not fit in a 32bit variable.
*/
.gyro_max_val = 22887 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(300),
.accel_max_val = IIO_M_S_2_TO_G(21973 << 16),
.accel_max_scale = 18,
.temp_scale = 5650, /* 5.65 milli degree Celsius */
.int_clk = 2460000,
.max_dec_rate = 2048,
.has_sleep_cnt = true,
.filter_freqs = adis16480_def_filter_freqs,
.adis_data = ADIS16480_DATA(16375, &adis16485_timeouts, 0),
},
[ADIS16480] = {
.channels = adis16480_channels,
.num_channels = ARRAY_SIZE(adis16480_channels),
.gyro_max_val = 22500 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(450),
.accel_max_val = IIO_M_S_2_TO_G(12500 << 16),
.accel_max_scale = 10,
.temp_scale = 5650, /* 5.65 milli degree Celsius */
.int_clk = 2460000,
.max_dec_rate = 2048,
.has_sleep_cnt = true,
.filter_freqs = adis16480_def_filter_freqs,
.adis_data = ADIS16480_DATA(16480, &adis16480_timeouts, 0),
},
[ADIS16485] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
.gyro_max_val = 22500 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(450),
.accel_max_val = IIO_M_S_2_TO_G(20000 << 16),
.accel_max_scale = 5,
.temp_scale = 5650, /* 5.65 milli degree Celsius */
.int_clk = 2460000,
.max_dec_rate = 2048,
.has_sleep_cnt = true,
.filter_freqs = adis16480_def_filter_freqs,
.adis_data = ADIS16480_DATA(16485, &adis16485_timeouts, 0),
},
[ADIS16488] = {
.channels = adis16480_channels,
.num_channels = ARRAY_SIZE(adis16480_channels),
.gyro_max_val = 22500 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(450),
.accel_max_val = IIO_M_S_2_TO_G(22500 << 16),
.accel_max_scale = 18,
.temp_scale = 5650, /* 5.65 milli degree Celsius */
.int_clk = 2460000,
.max_dec_rate = 2048,
.has_sleep_cnt = true,
.filter_freqs = adis16480_def_filter_freqs,
.adis_data = ADIS16480_DATA(16488, &adis16485_timeouts, 0),
},
[ADIS16490] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
.gyro_max_val = 20000 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(100),
.accel_max_val = IIO_M_S_2_TO_G(16000 << 16),
.accel_max_scale = 8,
.temp_scale = 14285, /* 14.285 milli degree Celsius */
.int_clk = 4250000,
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
.adis_data = ADIS16480_DATA(16490, &adis16495_timeouts, 0),
},
[ADIS16495_1] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
.gyro_max_val = 20000 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(125),
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 8,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
/* 20 elements of 16bits */
.adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
ADIS16495_BURST_MAX_DATA * 2),
},
[ADIS16495_2] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
.gyro_max_val = 18000 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(450),
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 8,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
/* 20 elements of 16bits */
.adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
ADIS16495_BURST_MAX_DATA * 2),
},
[ADIS16495_3] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
.gyro_max_val = 20000 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 8,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
/* 20 elements of 16bits */
.adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts,
ADIS16495_BURST_MAX_DATA * 2),
},
[ADIS16497_1] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
.gyro_max_val = 20000 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(125),
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 40,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
/* 20 elements of 16bits */
.adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
ADIS16495_BURST_MAX_DATA * 2),
},
[ADIS16497_2] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
.gyro_max_val = 18000 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(450),
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 40,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
/* 20 elements of 16bits */
.adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
ADIS16495_BURST_MAX_DATA * 2),
},
[ADIS16497_3] = {
.channels = adis16485_channels,
.num_channels = ARRAY_SIZE(adis16485_channels),
.gyro_max_val = 20000 << 16,
.gyro_max_scale = IIO_DEGREE_TO_RAD(2000),
.accel_max_val = IIO_M_S_2_TO_G(32000 << 16),
.accel_max_scale = 40,
.temp_scale = 12500, /* 12.5 milli degree Celsius */
.int_clk = 4250000,
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
/* 20 elements of 16bits */
.adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts,
ADIS16495_BURST_MAX_DATA * 2),
},
};
static bool adis16480_validate_crc(const u16 *buf, const u8 n_elem, const u32 crc)
{
u32 crc_calc;
u16 crc_buf[15];
int j;
for (j = 0; j < n_elem; j++)
crc_buf[j] = swab16(buf[j]);
crc_calc = crc32(~0, crc_buf, n_elem * 2);
crc_calc ^= ~0;
return (crc == crc_calc);
}
static irqreturn_t adis16480_trigger_handler(int irq, void *p)
{
struct iio_poll_func *pf = p;
struct iio_dev *indio_dev = pf->indio_dev;
struct adis16480 *st = iio_priv(indio_dev);
struct adis *adis = &st->adis;
struct device *dev = &adis->spi->dev;
int ret, bit, offset, i = 0;
__be16 *buffer;
u32 crc;
bool valid;
adis_dev_lock(adis);
if (adis->current_page != 0) {
adis->tx[0] = ADIS_WRITE_REG(ADIS_REG_PAGE_ID);
adis->tx[1] = 0;
ret = spi_write(adis->spi, adis->tx, 2);
if (ret) {
dev_err(dev, "Failed to change device page: %d\n", ret);
adis_dev_unlock(adis);
goto irq_done;
}
adis->current_page = 0;
}
ret = spi_sync(adis->spi, &adis->msg);
if (ret) {
dev_err(dev, "Failed to read data: %d\n", ret);
adis_dev_unlock(adis);
goto irq_done;
}
adis_dev_unlock(adis);
/*
* After making the burst request, the response can have one or two
* 16-bit responses containing the BURST_ID depending on the sclk. If
* clk > 3.6MHz, then we will have two BURST_ID in a row. If clk < 3MHZ,
* we have only one. To manage that variation, we use the transition from the
* BURST_ID to the SYS_E_FLAG register, which will not be equal to 0xA5A5. If
* we not find this variation in the first 4 segments, then the data should
* not be valid.
*/
buffer = adis->buffer;
for (offset = 0; offset < 4; offset++) {
u16 curr = be16_to_cpu(buffer[offset]);
u16 next = be16_to_cpu(buffer[offset + 1]);
if (curr == ADIS16495_BURST_ID && next != ADIS16495_BURST_ID) {
offset++;
break;
}
}
if (offset == 4) {
dev_err(dev, "Invalid burst data\n");
goto irq_done;
}
crc = be16_to_cpu(buffer[offset + 16]) << 16 | be16_to_cpu(buffer[offset + 15]);
valid = adis16480_validate_crc((u16 *)&buffer[offset], 15, crc);
if (!valid) {
dev_err(dev, "Invalid crc\n");
goto irq_done;
}
for_each_set_bit(bit, indio_dev->active_scan_mask, indio_dev->masklength) {
/*
* When burst mode is used, temperature is the first data
* channel in the sequence, but the temperature scan index
* is 10.
*/
switch (bit) {
case ADIS16480_SCAN_TEMP:
st->data[i++] = buffer[offset + 1];
break;
case ADIS16480_SCAN_GYRO_X ... ADIS16480_SCAN_ACCEL_Z:
/* The lower register data is sequenced first */
st->data[i++] = buffer[2 * bit + offset + 3];
st->data[i++] = buffer[2 * bit + offset + 2];
break;
}
}
iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);
irq_done:
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
}
static const struct iio_info adis16480_info = {
.read_raw = &adis16480_read_raw,
.write_raw = &adis16480_write_raw,
.update_scan_mode = adis_update_scan_mode,
.debugfs_reg_access = adis_debugfs_reg_access,
};
static int adis16480_stop_device(struct iio_dev *indio_dev)
{
struct adis16480 *st = iio_priv(indio_dev);
struct device *dev = &st->adis.spi->dev;
int ret;
ret = adis_write_reg_16(&st->adis, ADIS16480_REG_SLP_CNT, BIT(9));
if (ret)
dev_err(dev, "Could not power down device: %d\n", ret);
return ret;
}
static int adis16480_enable_irq(struct adis *adis, bool enable)
{
uint16_t val;
int ret;
ret = __adis_read_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, &val);
if (ret)
return ret;
val &= ~ADIS16480_DRDY_EN_MSK;
val |= ADIS16480_DRDY_EN(enable);
return __adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, val);
}
static int adis16480_config_irq_pin(struct adis16480 *st)
{
struct device *dev = &st->adis.spi->dev;
struct fwnode_handle *fwnode = dev_fwnode(dev);
struct irq_data *desc;
enum adis16480_int_pin pin;
unsigned int irq_type;
uint16_t val;
int i, irq = 0;
desc = irq_get_irq_data(st->adis.spi->irq);
if (!desc) {
dev_err(dev, "Could not find IRQ %d\n", irq);
return -EINVAL;
}
/* Disable data ready since the default after reset is on */
val = ADIS16480_DRDY_EN(0);
/*
* Get the interrupt from the devicetre by reading the interrupt-names
* property. If it is not specified, use DIO1 pin as default.
* According to the datasheet, the factory default assigns DIO2 as data
* ready signal. However, in the previous versions of the driver, DIO1
* pin was used. So, we should leave it as is since some devices might
* be expecting the interrupt on the wrong physical pin.
*/
pin = ADIS16480_PIN_DIO1;
for (i = 0; i < ARRAY_SIZE(adis16480_int_pin_names); i++) {
irq = fwnode_irq_get_byname(fwnode, adis16480_int_pin_names[i]);
if (irq > 0) {
pin = i;
break;
}
}
val |= ADIS16480_DRDY_SEL(pin);
/*
* Get the interrupt line behaviour. The data ready polarity can be
* configured as positive or negative, corresponding to
* IRQ_TYPE_EDGE_RISING or IRQ_TYPE_EDGE_FALLING respectively.
*/
irq_type = irqd_get_trigger_type(desc);
if (irq_type == IRQ_TYPE_EDGE_RISING) { /* Default */
val |= ADIS16480_DRDY_POL(1);
} else if (irq_type == IRQ_TYPE_EDGE_FALLING) {
val |= ADIS16480_DRDY_POL(0);
} else {
dev_err(dev, "Invalid interrupt type 0x%x specified\n", irq_type);
return -EINVAL;
}
/* Write the data ready configuration to the FNCTIO_CTRL register */
return adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
}
static int adis16480_fw_get_ext_clk_pin(struct adis16480 *st)
{
struct device *dev = &st->adis.spi->dev;
const char *ext_clk_pin;
enum adis16480_int_pin pin;
int i;
pin = ADIS16480_PIN_DIO2;
if (device_property_read_string(dev, "adi,ext-clk-pin", &ext_clk_pin))
goto clk_input_not_found;
for (i = 0; i < ARRAY_SIZE(adis16480_int_pin_names); i++) {
if (strcasecmp(ext_clk_pin, adis16480_int_pin_names[i]) == 0)
return i;
}
clk_input_not_found:
dev_info(dev, "clk input line not specified, using DIO2\n");
return pin;
}
static int adis16480_ext_clk_config(struct adis16480 *st, bool enable)
{
struct device *dev = &st->adis.spi->dev;
unsigned int mode, mask;
enum adis16480_int_pin pin;
uint16_t val;
int ret;
ret = adis_read_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, &val);
if (ret)
return ret;
pin = adis16480_fw_get_ext_clk_pin(st);
/*
* Each DIOx pin supports only one function at a time. When a single pin
* has two assignments, the enable bit for a lower priority function
* automatically resets to zero (disabling the lower priority function).
*/
if (pin == ADIS16480_DRDY_SEL(val))
dev_warn(dev, "DIO%x pin supports only one function at a time\n", pin + 1);
mode = ADIS16480_SYNC_EN(enable) | ADIS16480_SYNC_SEL(pin);
mask = ADIS16480_SYNC_EN_MSK | ADIS16480_SYNC_SEL_MSK;
/* Only ADIS1649x devices support pps ext clock mode */
if (st->chip_info->has_pps_clk_mode) {
mode |= ADIS16480_SYNC_MODE(st->clk_mode);
mask |= ADIS16480_SYNC_MODE_MSK;
}
val &= ~mask;
val |= mode;
ret = adis_write_reg_16(&st->adis, ADIS16480_REG_FNCTIO_CTRL, val);
if (ret)
return ret;
return clk_prepare_enable(st->ext_clk);
}
static int adis16480_get_ext_clocks(struct adis16480 *st)
{
struct device *dev = &st->adis.spi->dev;
st->ext_clk = devm_clk_get_optional(dev, "sync");
if (IS_ERR(st->ext_clk))
return dev_err_probe(dev, PTR_ERR(st->ext_clk), "failed to get ext clk\n");
if (st->ext_clk) {
st->clk_mode = ADIS16480_CLK_SYNC;
return 0;
}
if (st->chip_info->has_pps_clk_mode) {
st->ext_clk = devm_clk_get_optional(dev, "pps");
if (IS_ERR(st->ext_clk))
return dev_err_probe(dev, PTR_ERR(st->ext_clk), "failed to get ext clk\n");
if (st->ext_clk) {
st->clk_mode = ADIS16480_CLK_PPS;
return 0;
}
}
st->clk_mode = ADIS16480_CLK_INT;
return 0;
}
static void adis16480_stop(void *data)
{
adis16480_stop_device(data);
}
static void adis16480_clk_disable(void *data)
{
clk_disable_unprepare(data);
}
static int adis16480_probe(struct spi_device *spi)
{
const struct spi_device_id *id = spi_get_device_id(spi);
const struct adis_data *adis16480_data;
irq_handler_t trigger_handler = NULL;
struct device *dev = &spi->dev;
struct iio_dev *indio_dev;
struct adis16480 *st;
int ret;
indio_dev = devm_iio_device_alloc(dev, sizeof(*st));
if (indio_dev == NULL)
return -ENOMEM;
st = iio_priv(indio_dev);
st->chip_info = &adis16480_chip_info[id->driver_data];
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;
adis16480_data = &st->chip_info->adis_data;
ret = adis_init(&st->adis, indio_dev, spi, adis16480_data);
if (ret)
return ret;
ret = __adis_initial_startup(&st->adis);
if (ret)
return ret;
if (st->chip_info->has_sleep_cnt) {
ret = devm_add_action_or_reset(dev, adis16480_stop, indio_dev);
if (ret)
return ret;
}
ret = adis16480_config_irq_pin(st);
if (ret)
return ret;
ret = adis16480_get_ext_clocks(st);
if (ret)
return ret;
if (st->ext_clk) {
ret = adis16480_ext_clk_config(st, true);
if (ret)
return ret;
ret = devm_add_action_or_reset(dev, adis16480_clk_disable, st->ext_clk);
if (ret)
return ret;
st->clk_freq = clk_get_rate(st->ext_clk);
st->clk_freq *= 1000; /* micro */
if (st->clk_mode == ADIS16480_CLK_PPS) {
u16 sync_scale;
/*
* In PPS mode, the IMU sample rate is the clk_freq * sync_scale. Hence,
* default the IMU sample rate to the highest multiple of the input clock
* lower than the IMU max sample rate. The internal sample rate is the
* max...
*/
sync_scale = st->chip_info->int_clk / st->clk_freq;
ret = __adis_write_reg_16(&st->adis, ADIS16495_REG_SYNC_SCALE, sync_scale);
if (ret)
return ret;
}
} else {
st->clk_freq = st->chip_info->int_clk;
}
/* Only use our trigger handler if burst mode is supported */
if (adis16480_data->burst_len)
trigger_handler = adis16480_trigger_handler;
ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,
trigger_handler);
if (ret)
return ret;
ret = devm_iio_device_register(dev, indio_dev);
if (ret)
return ret;
adis16480_debugfs_init(indio_dev);
return 0;
}
static const struct spi_device_id adis16480_ids[] = {
{ "adis16375", ADIS16375 },
{ "adis16480", ADIS16480 },
{ "adis16485", ADIS16485 },
{ "adis16488", ADIS16488 },
{ "adis16490", ADIS16490 },
{ "adis16495-1", ADIS16495_1 },
{ "adis16495-2", ADIS16495_2 },
{ "adis16495-3", ADIS16495_3 },
{ "adis16497-1", ADIS16497_1 },
{ "adis16497-2", ADIS16497_2 },
{ "adis16497-3", ADIS16497_3 },
{ }
};
MODULE_DEVICE_TABLE(spi, adis16480_ids);
static const struct of_device_id adis16480_of_match[] = {
{ .compatible = "adi,adis16375" },
{ .compatible = "adi,adis16480" },
{ .compatible = "adi,adis16485" },
{ .compatible = "adi,adis16488" },
{ .compatible = "adi,adis16490" },
{ .compatible = "adi,adis16495-1" },
{ .compatible = "adi,adis16495-2" },
{ .compatible = "adi,adis16495-3" },
{ .compatible = "adi,adis16497-1" },
{ .compatible = "adi,adis16497-2" },
{ .compatible = "adi,adis16497-3" },
{ },
};
MODULE_DEVICE_TABLE(of, adis16480_of_match);
static struct spi_driver adis16480_driver = {
.driver = {
.name = "adis16480",
.of_match_table = adis16480_of_match,
},
.id_table = adis16480_ids,
.probe = adis16480_probe,
};
module_spi_driver(adis16480_driver);
MODULE_AUTHOR("Lars-Peter Clausen <lars@metafoo.de>");
MODULE_DESCRIPTION("Analog Devices ADIS16480 IMU driver");
MODULE_LICENSE("GPL v2");
MODULE_IMPORT_NS(IIO_ADISLIB);
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