// SPDX-License-Identifier: GPL-2.0 /* * ADIS16475 IMU driver * * Copyright 2019 Analog Devices Inc. */ #include <linux/bitfield.h> #include <linux/bitops.h> #include <linux/clk.h> #include <linux/debugfs.h> #include <linux/delay.h> #include <linux/device.h> #include <linux/kernel.h> #include <linux/iio/buffer.h> #include <linux/iio/iio.h> #include <linux/iio/imu/adis.h> #include <linux/iio/sysfs.h> #include <linux/iio/trigger_consumer.h> #include <linux/irq.h> #include <linux/lcm.h> #include <linux/math.h> #include <linux/module.h> #include <linux/mod_devicetable.h> #include <linux/property.h> #include <linux/spi/spi.h> #define ADIS16475_REG_DIAG_STAT … #define ADIS16475_REG_X_GYRO_L … #define ADIS16475_REG_Y_GYRO_L … #define ADIS16475_REG_Z_GYRO_L … #define ADIS16475_REG_X_ACCEL_L … #define ADIS16475_REG_Y_ACCEL_L … #define ADIS16475_REG_Z_ACCEL_L … #define ADIS16475_REG_TEMP_OUT … #define ADIS16475_REG_X_DELTANG_L … #define ADIS16475_REG_Y_DELTANG_L … #define ADIS16475_REG_Z_DELTANG_L … #define ADIS16475_REG_X_DELTVEL_L … #define ADIS16475_REG_Y_DELTVEL_L … #define ADIS16475_REG_Z_DELTVEL_L … #define ADIS16475_REG_X_GYRO_BIAS_L … #define ADIS16475_REG_Y_GYRO_BIAS_L … #define ADIS16475_REG_Z_GYRO_BIAS_L … #define ADIS16475_REG_X_ACCEL_BIAS_L … #define ADIS16475_REG_Y_ACCEL_BIAS_L … #define ADIS16475_REG_Z_ACCEL_BIAS_L … #define ADIS16475_REG_FILT_CTRL … #define ADIS16475_FILT_CTRL_MASK … #define ADIS16475_FILT_CTRL(x) … #define ADIS16475_REG_MSG_CTRL … #define ADIS16475_MSG_CTRL_DR_POL_MASK … #define ADIS16475_MSG_CTRL_DR_POL(x) … #define ADIS16475_SYNC_MODE_MASK … #define ADIS16475_SYNC_MODE(x) … #define ADIS16575_SYNC_4KHZ_MASK … #define ADIS16575_SYNC_4KHZ(x) … #define ADIS16475_REG_UP_SCALE … #define ADIS16475_REG_DEC_RATE … #define ADIS16475_REG_GLOB_CMD … #define ADIS16475_REG_FIRM_REV … #define ADIS16475_REG_FIRM_DM … #define ADIS16475_REG_FIRM_Y … #define ADIS16475_REG_PROD_ID … #define ADIS16475_REG_SERIAL_NUM … #define ADIS16475_REG_FLASH_CNT … #define ADIS16500_BURST_DATA_SEL_MASK … #define ADIS16500_BURST32_MASK … #define ADIS16500_BURST32(x) … /* number of data elements in burst mode */ #define ADIS16475_BURST32_MAX_DATA_NO_TS32 … #define ADIS16575_BURST32_DATA_TS32 … #define ADIS16475_BURST_MAX_DATA … #define ADIS16475_MAX_SCAN_DATA … /* spi max speed in brust mode */ #define ADIS16475_BURST_MAX_SPEED … #define ADIS16575_BURST_MAX_SPEED … #define ADIS16475_LSB_DEC_MASK … #define ADIS16475_LSB_FIR_MASK … #define ADIS16500_BURST_DATA_SEL_0_CHN_MASK … #define ADIS16500_BURST_DATA_SEL_1_CHN_MASK … #define ADIS16575_MAX_FIFO_WM … #define ADIS16475_REG_FIFO_CTRL … #define ADIS16575_WM_LVL_MASK … #define ADIS16575_WM_LVL(x) … #define ADIS16575_WM_POL_MASK … #define ADIS16575_WM_POL(x) … #define ADIS16575_WM_EN_MASK … #define ADIS16575_WM_EN(x) … #define ADIS16575_OVERFLOW_MASK … #define ADIS16575_STOP_ENQUEUE … #define ADIS16575_OVERWRITE_OLDEST … #define ADIS16575_FIFO_EN_MASK … #define ADIS16575_FIFO_EN(x) … #define ADIS16575_FIFO_FLUSH_CMD … #define ADIS16575_REG_FIFO_CNT … enum { … }; struct adis16475_sync { … }; struct adis16475_chip_info { … }; struct adis16475 { … }; enum { … }; static bool low_rate_allow; module_param(low_rate_allow, bool, 0444); MODULE_PARM_DESC(…) …; #ifdef CONFIG_DEBUG_FS static ssize_t adis16475_show_firmware_revision(struct file *file, char __user *userbuf, size_t count, loff_t *ppos) { … } static const struct file_operations adis16475_firmware_revision_fops = …; static ssize_t adis16475_show_firmware_date(struct file *file, char __user *userbuf, size_t count, loff_t *ppos) { … } static const struct file_operations adis16475_firmware_date_fops = …; static int adis16475_show_serial_number(void *arg, u64 *val) { … } DEFINE_DEBUGFS_ATTRIBUTE(…); static int adis16475_show_product_id(void *arg, u64 *val) { … } DEFINE_DEBUGFS_ATTRIBUTE(…); static int adis16475_show_flash_count(void *arg, u64 *val) { … } DEFINE_DEBUGFS_ATTRIBUTE(…); static void adis16475_debugfs_init(struct iio_dev *indio_dev) { … } #else static void adis16475_debugfs_init(struct iio_dev *indio_dev) { } #endif static int adis16475_get_freq(struct adis16475 *st, u32 *freq) { … } static int adis16475_set_freq(struct adis16475 *st, const u32 freq) { … } /* The values are approximated. */ static const u32 adis16475_3db_freqs[] = …; static int adis16475_get_filter(struct adis16475 *st, u32 *filter) { … } static int adis16475_set_filter(struct adis16475 *st, const u32 filter) { … } static ssize_t adis16475_get_fifo_enabled(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t adis16475_get_fifo_watermark(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t hwfifo_watermark_min_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static ssize_t hwfifo_watermark_max_show(struct device *dev, struct device_attribute *attr, char *buf) { … } static IIO_DEVICE_ATTR_RO(hwfifo_watermark_min, 0); static IIO_DEVICE_ATTR_RO(hwfifo_watermark_max, 0); static IIO_DEVICE_ATTR(hwfifo_watermark, 0444, adis16475_get_fifo_watermark, NULL, 0); static IIO_DEVICE_ATTR(hwfifo_enabled, 0444, adis16475_get_fifo_enabled, NULL, 0); static const struct iio_dev_attr *adis16475_fifo_attributes[] = …; static int adis16475_buffer_postenable(struct iio_dev *indio_dev) { … } static int adis16475_buffer_postdisable(struct iio_dev *indio_dev) { … } static const struct iio_buffer_setup_ops adis16475_buffer_ops = …; static int adis16475_set_watermark(struct iio_dev *indio_dev, unsigned int val) { … } static const u32 adis16475_calib_regs[] = …; static int adis16475_read_raw(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int *val, int *val2, long info) { … } static int adis16475_write_raw(struct iio_dev *indio_dev, const struct iio_chan_spec *chan, int val, int val2, long info) { … } #define ADIS16475_MOD_CHAN(_type, _mod, _address, _si, _r_bits, _s_bits) … #define ADIS16475_GYRO_CHANNEL(_mod) … #define ADIS16475_ACCEL_CHANNEL(_mod) … #define ADIS16475_TEMP_CHANNEL() … #define ADIS16475_MOD_CHAN_DELTA(_type, _mod, _address, _si, _r_bits, _s_bits) … #define ADIS16475_DELTANG_CHAN(_mod) … #define ADIS16475_DELTVEL_CHAN(_mod) … #define ADIS16475_DELTANG_CHAN_NO_SCAN(_mod) … #define ADIS16475_DELTVEL_CHAN_NO_SCAN(_mod) … static const struct iio_chan_spec adis16477_channels[] = …; static const struct iio_chan_spec adis16475_channels[] = …; static const struct iio_chan_spec adis16575_channels[] = …; enum adis16475_variant { … }; enum { … }; static const char * const adis16475_status_error_msgs[] = …; #define ADIS16475_DATA(_prod_id, _timeouts, _burst_max_len, _burst_max_speed_hz, _has_fifo) … static const struct adis16475_sync adis16475_sync_mode[] = …; static const struct adis16475_sync adis16575_sync_mode[] = …; static const struct adis_timeout adis16475_timeouts = …; static const struct adis_timeout adis1650x_timeouts = …; static const struct adis16475_chip_info adis16475_chip_info[] = …; static int adis16475_update_scan_mode(struct iio_dev *indio_dev, const unsigned long *scan_mask) { … } static const struct iio_info adis16475_info = …; static const struct iio_info adis16575_info = …; static bool adis16475_validate_crc(const u8 *buffer, u16 crc, u16 burst_size, u16 start_idx) { … } static void adis16475_burst32_check(struct adis16475 *st) { … } static int adis16475_push_single_sample(struct iio_poll_func *pf) { … } static irqreturn_t adis16475_trigger_handler(int irq, void *p) { … } /* * This function updates the first tx byte from the adis message based on the * given burst request. */ static void adis16575_update_msg_for_burst(struct adis *adis, u8 burst_req) { … } static int adis16575_custom_burst_read(struct iio_poll_func *pf, u8 burst_req) { … } /* * This handler is meant to be used for devices which support burst readings * from FIFO (namely devices from adis1657x family). * In order to pop the FIFO the 0x68 0x00 FIFO pop burst request has to be sent. * If the previous device command was not a FIFO pop burst request, the FIFO pop * burst request will simply pop the FIFO without returning valid data. * For the nth consecutive burst request, thedevice will send the data popped * with the (n-1)th consecutive burst request. * In order to read the data which was popped previously, without popping the * FIFO, the 0x00 0x00 burst request has to be sent. * If after a 0x68 0x00 FIFO pop burst request, there is any other device access * different from a 0x68 0x00 or a 0x00 0x00 burst request, the FIFO data popped * previously will be lost. */ static irqreturn_t adis16475_trigger_handler_with_fifo(int irq, void *p) { … } static int adis16475_config_sync_mode(struct adis16475 *st) { … } static int adis16475_config_irq_pin(struct adis16475 *st) { … } static int adis16475_probe(struct spi_device *spi) { … } static const struct of_device_id adis16475_of_match[] = …; MODULE_DEVICE_TABLE(of, adis16475_of_match); static const struct spi_device_id adis16475_ids[] = …; MODULE_DEVICE_TABLE(spi, adis16475_ids); static struct spi_driver adis16475_driver = …; module_spi_driver(…) …; MODULE_AUTHOR(…) …; MODULE_DESCRIPTION(…) …; MODULE_LICENSE(…) …; MODULE_IMPORT_NS(…);
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