#include <linux/iio/iio.h>
#include <linux/iio/sysfs.h>
#include <linux/iio/buffer.h>
+
#include "adis16400.h"
enum adis16400_chip_variant {
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 int adis16334_get_freq(struct iio_dev *indio_dev)
+static int adis16334_get_freq(struct adis16400_state *st)
{
int ret;
u16 t;
- ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
if (ret < 0)
return ret;
return (8192 >> t) / 10;
}
-static int adis16334_set_freq(struct iio_dev *indio_dev, unsigned int freq)
+static int adis16334_set_freq(struct adis16400_state *st, unsigned int freq)
{
unsigned int t;
t <<= ADIS16334_RATE_DIV_SHIFT;
t |= ADIS16334_RATE_INT_CLK;
- return adis16400_spi_write_reg_16(indio_dev, ADIS16400_SMPL_PRD, t);
+ return adis_write_reg_16(&st->adis, ADIS16400_SMPL_PRD, t);
}
-static int adis16400_get_freq(struct iio_dev *indio_dev)
+static int adis16400_get_freq(struct adis16400_state *st)
{
int sps, ret;
u16 t;
- ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &t);
if (ret < 0)
return ret;
sps = (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;
return sps;
}
-static int adis16400_set_freq(struct iio_dev *indio_dev, unsigned int freq)
+static int adis16400_set_freq(struct adis16400_state *st, unsigned int freq)
{
- struct adis16400_state *st = iio_priv(indio_dev);
unsigned int t;
t = 1638 / freq;
t--;
t &= ADIS16400_SMPL_PRD_DIV_MASK;
if ((t & ADIS16400_SMPL_PRD_DIV_MASK) >= 0x0A)
- st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
else
- st->us->max_speed_hz = ADIS16400_SPI_FAST;
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
- return adis16400_spi_write_reg_8(indio_dev,
- ADIS16400_SMPL_PRD, t);
+ return adis_write_reg_8(&st->adis, ADIS16400_SMPL_PRD, t);
}
static ssize_t adis16400_read_frequency(struct device *dev,
struct adis16400_state *st = iio_priv(indio_dev);
int ret, len = 0;
- ret = st->variant->get_freq(indio_dev);
+ ret = st->variant->get_freq(st);
if (ret < 0)
return ret;
len = sprintf(buf, "%d SPS\n", ret);
static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)
{
+ struct adis16400_state *st = iio_priv(indio_dev);
int i, ret;
u16 val16;
break;
}
- ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SENS_AVG,
- &val16);
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SENS_AVG, &val16);
if (ret < 0)
return ret;
- ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SENS_AVG,
+ ret = adis_write_reg_16(&st->adis, ADIS16400_SENS_AVG,
(val16 & ~0x07) | i);
return ret;
}
mutex_lock(&indio_dev->mlock);
- st->variant->set_freq(indio_dev, val);
+ st->variant->set_freq(st, val);
/* Also update the filter */
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;
-}
-
-int adis16400_set_irq(struct iio_dev *indio_dev, bool enable)
-{
- int ret;
- u16 msc;
-
- ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_MSC_CTRL, &msc);
- if (ret)
- goto error_ret;
-
- msc |= ADIS16400_MSC_CTRL_DATA_RDY_POL_HIGH;
- if (enable)
- msc |= ADIS16400_MSC_CTRL_DATA_RDY_EN;
- else
- msc &= ~ADIS16400_MSC_CTRL_DATA_RDY_EN;
-
- ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_MSC_CTRL, msc);
- if (ret)
- goto error_ret;
-
-error_ret:
- return ret;
-}
-
/* Power down the device */
static int adis16400_stop_device(struct iio_dev *indio_dev)
{
+ struct adis16400_state *st = iio_priv(indio_dev);
int ret;
u16 val = ADIS16400_SLP_CNT_POWER_OFF;
- ret = adis16400_spi_write_reg_16(indio_dev, ADIS16400_SLP_CNT, val);
+ ret = adis_write_reg_16(&st->adis, 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;
/* use low spi speed for init if the device has a slow mode */
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE)
- st->us->max_speed_hz = ADIS16400_SPI_SLOW;
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_SLOW;
else
- st->us->max_speed_hz = ADIS16400_SPI_FAST;
- st->us->mode = SPI_MODE_3;
- spi_setup(st->us);
-
- ret = adis16400_set_irq(indio_dev, false);
- if (ret) {
- dev_err(&indio_dev->dev, "disable irq failed");
- goto err_ret;
- }
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+ st->adis.spi->mode = SPI_MODE_3;
+ spi_setup(st->adis.spi);
- ret = adis16400_self_test(indio_dev);
- if (ret) {
- dev_err(&indio_dev->dev, "self test failure");
- goto err_ret;
- }
+ ret = adis_initial_startup(&st->adis);
+ if (ret)
+ return 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,
+ ret = adis_read_reg_16(&st->adis,
ADIS16400_PRODUCT_ID, &prod_id);
if (ret)
goto err_ret;
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);
+ st->adis.spi->chip_select, st->adis.spi->irq);
}
/* use high spi speed if possible */
if (st->variant->flags & ADIS16400_HAS_SLOW_MODE) {
- ret = adis16400_spi_read_reg_16(indio_dev,
- ADIS16400_SMPL_PRD, &smp_prd);
+ ret = adis_read_reg_16(&st->adis, ADIS16400_SMPL_PRD, &smp_prd);
if (ret)
goto err_ret;
if ((smp_prd & ADIS16400_SMPL_PRD_DIV_MASK) < 0x0A) {
- st->us->max_speed_hz = ADIS16400_SPI_FAST;
- spi_setup(st->us);
+ st->adis.spi->max_speed_hz = ADIS16400_SPI_FAST;
+ spi_setup(st->adis.spi);
}
}
static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("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,
- in2,
- incli_x,
- incli_y,
-};
-
-static u8 adis16400_addresses[18][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] = { ADIS16300_AUX_ADC },
- [in2] = { ADIS16400_AUX_ADC },
- [incli_x] = { ADIS16300_PITCH_OUT },
- [incli_y] = { ADIS16300_ROLL_OUT }
+static const u8 adis16400_addresses[] = {
+ [ADIS16400_SCAN_GYRO_X] = ADIS16400_XGYRO_OFF,
+ [ADIS16400_SCAN_GYRO_Y] = ADIS16400_YGYRO_OFF,
+ [ADIS16400_SCAN_GYRO_Z] = ADIS16400_ZGYRO_OFF,
+ [ADIS16400_SCAN_ACC_X] = ADIS16400_XACCL_OFF,
+ [ADIS16400_SCAN_ACC_Y] = ADIS16400_YACCL_OFF,
+ [ADIS16400_SCAN_ACC_Z] = ADIS16400_ZACCL_OFF,
};
-
static int adis16400_write_raw(struct iio_dev *indio_dev,
struct iio_chan_spec const *chan,
int val,
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);
+ ret = adis_write_reg_16(&st->adis,
+ adis16400_addresses[chan->scan_index], val);
mutex_unlock(&indio_dev->mlock);
return ret;
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
mutex_lock(&indio_dev->mlock);
st->filt_int = val;
/* Work out update to current value */
- sps = st->variant->get_freq(indio_dev);
+ sps = st->variant->get_freq(st);
if (sps < 0) {
mutex_unlock(&indio_dev->mlock);
return sps;
long mask)
{
struct adis16400_state *st = iio_priv(indio_dev);
- int ret, shift;
+ int ret;
s16 val16;
switch (mask) {
case IIO_CHAN_INFO_RAW:
- 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;
+ return adis_single_conversion(indio_dev, chan, 0, val);
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_ANGL_VEL:
}
case IIO_CHAN_INFO_CALIBBIAS:
mutex_lock(&indio_dev->mlock);
- ret = adis16400_spi_read_reg_16(indio_dev,
- adis16400_addresses[chan->address][1],
- &val16);
+ ret = adis_read_reg_16(&st->adis,
+ adis16400_addresses[chan->scan_index], &val16);
mutex_unlock(&indio_dev->mlock);
if (ret)
return ret;
case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:
mutex_lock(&indio_dev->mlock);
/* Need both the number of taps and the sampling frequency */
- ret = adis16400_spi_read_reg_16(indio_dev,
+ ret = adis_read_reg_16(&st->adis,
ADIS16400_SENS_AVG,
&val16);
if (ret < 0) {
mutex_unlock(&indio_dev->mlock);
return ret;
}
- ret = st->variant->get_freq(indio_dev);
+ ret = st->variant->get_freq(st);
if (ret >= 0)
*val = ret / adis16400_3db_divisors[val16 & 0x07];
*val2 = 0;
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in_supply,
+ .address = ADIS16400_SUPPLY_OUT,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_x,
+ .address = ADIS16400_XGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_y,
+ .address = ADIS16400_YGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_z,
+ .address = ADIS16400_ZGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_x,
+ .address = ADIS16400_XACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_y,
+ .address = ADIS16400_YACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_z,
+ .address = ADIS16400_ZACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = magn_x,
+ .address = ADIS16400_XMAGN_OUT,
.scan_index = ADIS16400_SCAN_MAGN_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = magn_y,
+ .address = ADIS16400_YMAGN_OUT,
.scan_index = ADIS16400_SCAN_MAGN_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = magn_z,
+ .address = ADIS16400_ZMAGN_OUT,
.scan_index = ADIS16400_SCAN_MAGN_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = temp,
- .scan_index = ADIS16400_SCAN_TEMP,
+ .address = ADIS16400_TEMP_OUT,
+ .scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_VOLTAGE,
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in2,
- .scan_index = ADIS16400_SCAN_ADC_0,
+ .address = ADIS16400_AUX_ADC,
+ .scan_index = ADIS16400_SCAN_ADC,
.scan_type = IIO_ST('s', 12, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(12)
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in_supply,
+ .address = ADIS16400_SUPPLY_OUT,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 12, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_x,
+ .address = ADIS16400_XGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_y,
+ .address = ADIS16400_YGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_z,
+ .address = ADIS16400_ZGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_x,
+ .address = ADIS16400_XACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_y,
+ .address = ADIS16400_YACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_z,
+ .address = ADIS16400_ZACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = temp0,
+ .address = ADIS16350_XTEMP_OUT,
.scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = temp1,
+ .address = ADIS16350_YTEMP_OUT,
.scan_index = ADIS16350_SCAN_TEMP_Y,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = temp2,
+ .address = ADIS16350_ZTEMP_OUT,
.scan_index = ADIS16350_SCAN_TEMP_Z,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in1,
- .scan_index = ADIS16350_SCAN_ADC_0,
+ .address = ADIS16300_AUX_ADC,
+ .scan_index = ADIS16400_SCAN_ADC,
.scan_type = IIO_ST('s', 12, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(11)
.extend_name = "supply",
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in_supply,
+ .address = ADIS16400_SUPPLY_OUT,
.scan_index = ADIS16400_SCAN_SUPPLY,
.scan_type = IIO_ST('u', 12, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_x,
+ .address = ADIS16400_XGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_x,
+ .address = ADIS16400_XACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_y,
+ .address = ADIS16400_YACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_z,
+ .address = ADIS16400_ZACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = temp0,
- .scan_index = ADIS16400_SCAN_TEMP,
+ .address = ADIS16350_XTEMP_OUT,
+ .scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_VOLTAGE,
.channel = 1,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SEPARATE_BIT,
- .address = in1,
- .scan_index = ADIS16350_SCAN_ADC_0,
+ .address = ADIS16300_AUX_ADC,
+ .scan_index = ADIS16400_SCAN_ADC,
.scan_type = IIO_ST('s', 12, 16, 0),
}, {
.type = IIO_INCLI,
.channel2 = IIO_MOD_X,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT,
- .address = incli_x,
+ .address = ADIS16300_PITCH_OUT,
.scan_index = ADIS16300_SCAN_INCLI_X,
.scan_type = IIO_ST('s', 13, 16, 0),
}, {
.channel2 = IIO_MOD_Y,
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT,
- .address = incli_y,
+ .address = ADIS16300_ROLL_OUT,
.scan_index = ADIS16300_SCAN_INCLI_Y,
.scan_type = IIO_ST('s', 13, 16, 0),
},
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_x,
+ .address = ADIS16400_XGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_y,
+ .address = ADIS16400_YGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = gyro_z,
+ .address = ADIS16400_ZGYRO_OUT,
.scan_index = ADIS16400_SCAN_GYRO_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_x,
+ .address = ADIS16400_XACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_X,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_y,
+ .address = ADIS16400_YACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Y,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT |
IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,
- .address = accel_z,
+ .address = ADIS16400_ZACCL_OUT,
.scan_index = ADIS16400_SCAN_ACC_Z,
.scan_type = IIO_ST('s', 14, 16, 0),
}, {
.info_mask = IIO_CHAN_INFO_RAW_SEPARATE_BIT |
IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |
IIO_CHAN_INFO_SCALE_SHARED_BIT,
- .address = temp0,
- .scan_index = ADIS16400_SCAN_TEMP,
+ .address = ADIS16350_XTEMP_OUT,
+ .scan_index = ADIS16350_SCAN_TEMP_X,
.scan_type = IIO_ST('s', 14, 16, 0),
},
IIO_CHAN_SOFT_TIMESTAMP(12)
.attrs = &adis16400_attribute_group,
};
+static const char * const adis16400_status_error_msgs[] = {
+ [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+ [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+ [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+ [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+ [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+ [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+ [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+ [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+ [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+static const struct adis_data adis16400_data = {
+ .msc_ctrl_reg = ADIS16400_MSC_CTRL,
+ .glob_cmd_reg = ADIS16400_GLOB_CMD,
+ .diag_stat_reg = ADIS16400_DIAG_STAT,
+
+ .read_delay = 50,
+ .write_delay = 50,
+
+ .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
+ .startup_delay = ADIS16400_STARTUP_DELAY,
+
+ .status_error_msgs = adis16400_status_error_msgs,
+ .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_ALARM2) |
+ BIT(ADIS16400_DIAG_STAT_ALARM1) |
+ BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
+ BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
+ BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
+ BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
+ BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
+ BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
+ BIT(ADIS16400_DIAG_STAT_POWER_LOW),
+};
+
static int adis16400_probe(struct spi_device *spi)
{
int ret;
/* 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->info = &adis16400_info;
indio_dev->modes = INDIO_DIRECT_MODE;
+ ret = adis_init(&st->adis, indio_dev, spi, &adis16400_data);
+ if (ret)
+ goto error_free_dev;
+
ret = adis16400_configure_ring(indio_dev);
if (ret)
goto error_free_dev;
}
if (spi->irq) {
- ret = adis16400_probe_trigger(indio_dev);
+ ret = adis_probe_trigger(&st->adis, indio_dev);
if (ret)
goto error_uninitialize_ring;
}
error_remove_trigger:
if (spi->irq)
- adis16400_remove_trigger(indio_dev);
+ adis_remove_trigger(&st->adis);
error_uninitialize_ring:
iio_buffer_unregister(indio_dev);
error_unreg_ring_funcs:
static int adis16400_remove(struct spi_device *spi)
{
struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ struct adis16400_state *st = iio_priv(indio_dev);
iio_device_unregister(indio_dev);
adis16400_stop_device(indio_dev);
- adis16400_remove_trigger(indio_dev);
+ if (spi->irq)
+ adis_remove_trigger(&st->adis);
iio_buffer_unregister(indio_dev);
adis16400_unconfigure_ring(indio_dev);
+
iio_device_free(indio_dev);
return 0;
projects / users / hch / block.git / commitdiff