157
static ssize_t adis16209_read_12bit_unsigned(struct device *dev,
158
struct device_attribute *attr,
163
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
165
ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
169
if (val & ADIS16209_ERROR_ACTIVE)
170
adis16209_check_status(dev);
172
return sprintf(buf, "%u\n", val & 0x0FFF);
175
static ssize_t adis16209_read_14bit_unsigned(struct device *dev,
176
struct device_attribute *attr,
181
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
183
ret = adis16209_spi_read_reg_16(dev, this_attr->address, &val);
187
if (val & ADIS16209_ERROR_ACTIVE)
188
adis16209_check_status(dev);
190
return sprintf(buf, "%u\n", val & 0x3FFF);
193
static ssize_t adis16209_read_temp(struct device *dev,
194
struct device_attribute *attr,
197
struct iio_dev *indio_dev = dev_get_drvdata(dev);
201
/* Take the iio_dev status lock */
202
mutex_lock(&indio_dev->mlock);
204
ret = adis16209_spi_read_reg_16(dev, ADIS16209_TEMP_OUT, (u16 *)&val);
208
if (val & ADIS16209_ERROR_ACTIVE)
209
adis16209_check_status(dev);
212
ret = sprintf(buf, "%d\n", val);
215
mutex_unlock(&indio_dev->mlock);
219
static ssize_t adis16209_read_14bit_signed(struct device *dev,
220
struct device_attribute *attr,
223
struct iio_dev *indio_dev = dev_get_drvdata(dev);
224
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
228
mutex_lock(&indio_dev->mlock);
230
ret = adis16209_spi_read_reg_16(dev, this_attr->address, (u16 *)&val);
232
if (val & ADIS16209_ERROR_ACTIVE)
233
adis16209_check_status(dev);
235
val = ((s16)(val << 2) >> 2);
236
ret = sprintf(buf, "%d\n", val);
239
mutex_unlock(&indio_dev->mlock);
244
static ssize_t adis16209_write_16bit(struct device *dev,
245
struct device_attribute *attr,
249
struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
253
ret = strict_strtol(buf, 10, &val);
256
ret = adis16209_spi_write_reg_16(dev, this_attr->address, val);
259
return ret ? ret : len;
262
static int adis16209_reset(struct device *dev)
265
ret = adis16209_spi_write_reg_8(dev,
146
static int adis16209_reset(struct iio_dev *indio_dev)
149
ret = adis16209_spi_write_reg_8(indio_dev,
266
150
ADIS16209_GLOB_CMD,
267
151
ADIS16209_GLOB_CMD_SW_RESET);
269
dev_err(dev, "problem resetting device");
153
dev_err(&indio_dev->dev, "problem resetting device");
303
189
msc &= ~ADIS16209_MSC_CTRL_DATA_RDY_EN;
305
ret = adis16209_spi_write_reg_16(dev, ADIS16209_MSC_CTRL, msc);
191
ret = adis16209_spi_write_reg_16(indio_dev, ADIS16209_MSC_CTRL, msc);
311
static int adis16209_check_status(struct device *dev)
197
static int adis16209_check_status(struct iio_dev *indio_dev)
316
ret = adis16209_spi_read_reg_16(dev, ADIS16209_DIAG_STAT, &status);
202
ret = adis16209_spi_read_reg_16(indio_dev,
203
ADIS16209_DIAG_STAT, &status);
318
dev_err(dev, "Reading status failed\n");
205
dev_err(&indio_dev->dev, "Reading status failed\n");
321
208
ret = status & 0x1F;
323
210
if (status & ADIS16209_DIAG_STAT_SELFTEST_FAIL)
324
dev_err(dev, "Self test failure\n");
211
dev_err(&indio_dev->dev, "Self test failure\n");
325
212
if (status & ADIS16209_DIAG_STAT_SPI_FAIL)
326
dev_err(dev, "SPI failure\n");
213
dev_err(&indio_dev->dev, "SPI failure\n");
327
214
if (status & ADIS16209_DIAG_STAT_FLASH_UPT)
328
dev_err(dev, "Flash update failed\n");
215
dev_err(&indio_dev->dev, "Flash update failed\n");
329
216
if (status & ADIS16209_DIAG_STAT_POWER_HIGH)
330
dev_err(dev, "Power supply above 3.625V\n");
217
dev_err(&indio_dev->dev, "Power supply above 3.625V\n");
331
218
if (status & ADIS16209_DIAG_STAT_POWER_LOW)
332
dev_err(dev, "Power supply below 3.15V\n");
219
dev_err(&indio_dev->dev, "Power supply below 3.15V\n");
338
static int adis16209_self_test(struct device *dev)
225
static int adis16209_self_test(struct iio_dev *indio_dev)
341
ret = adis16209_spi_write_reg_16(dev,
228
ret = adis16209_spi_write_reg_16(indio_dev,
342
229
ADIS16209_MSC_CTRL,
343
230
ADIS16209_MSC_CTRL_SELF_TEST_EN);
345
dev_err(dev, "problem starting self test");
232
dev_err(&indio_dev->dev, "problem starting self test");
349
adis16209_check_status(dev);
236
adis16209_check_status(indio_dev);
355
static int adis16209_initial_setup(struct adis16209_state *st)
242
static int adis16209_initial_setup(struct iio_dev *indio_dev)
358
struct device *dev = &st->indio_dev->dev;
360
246
/* Disable IRQ */
361
ret = adis16209_set_irq(dev, false);
247
ret = adis16209_set_irq(indio_dev, false);
363
dev_err(dev, "disable irq failed");
249
dev_err(&indio_dev->dev, "disable irq failed");
367
253
/* Do self test */
368
ret = adis16209_self_test(dev);
254
ret = adis16209_self_test(indio_dev);
370
dev_err(dev, "self test failure");
256
dev_err(&indio_dev->dev, "self test failure");
374
260
/* Read status register to check the result */
375
ret = adis16209_check_status(dev);
261
ret = adis16209_check_status(indio_dev);
377
adis16209_reset(dev);
378
dev_err(dev, "device not playing ball -> reset");
263
adis16209_reset(indio_dev);
264
dev_err(&indio_dev->dev, "device not playing ball -> reset");
379
265
msleep(ADIS16209_STARTUP_DELAY);
380
ret = adis16209_check_status(dev);
266
ret = adis16209_check_status(indio_dev);
382
dev_err(dev, "giving up");
268
dev_err(&indio_dev->dev, "giving up");
387
printk(KERN_INFO DRIVER_NAME ": at CS%d (irq %d)\n",
388
st->us->chip_select, st->us->irq);
394
static IIO_DEV_ATTR_IN_NAMED_RAW(0, supply, adis16209_read_14bit_unsigned,
395
ADIS16209_SUPPLY_OUT);
396
static IIO_CONST_ATTR_IN_NAMED_SCALE(0, supply, "0.30518");
397
static IIO_DEV_ATTR_IN_RAW(1, adis16209_read_12bit_unsigned,
399
static IIO_CONST_ATTR(in1_scale, "0.6105");
401
static IIO_DEV_ATTR_ACCEL_X(adis16209_read_14bit_signed,
402
ADIS16209_XACCL_OUT);
403
static IIO_DEV_ATTR_ACCEL_Y(adis16209_read_14bit_signed,
404
ADIS16209_YACCL_OUT);
405
static IIO_DEV_ATTR_ACCEL_X_CALIBBIAS(S_IWUSR | S_IRUGO,
406
adis16209_read_14bit_signed,
407
adis16209_write_16bit,
408
ADIS16209_XACCL_NULL);
409
static IIO_DEV_ATTR_ACCEL_Y_CALIBBIAS(S_IWUSR | S_IRUGO,
410
adis16209_read_14bit_signed,
411
adis16209_write_16bit,
412
ADIS16209_YACCL_NULL);
413
static IIO_CONST_ATTR_ACCEL_SCALE("0.002394195531");
415
static IIO_DEV_ATTR_INCLI_X(adis16209_read_14bit_signed,
416
ADIS16209_XINCL_OUT);
417
static IIO_DEV_ATTR_INCLI_Y(adis16209_read_14bit_signed,
418
ADIS16209_YINCL_OUT);
419
static IIO_CONST_ATTR(incli_scale, "0.00043633231");
421
static IIO_DEVICE_ATTR(rot_raw, S_IRUGO, adis16209_read_14bit_signed,
422
NULL, ADIS16209_ROT_OUT);
424
static IIO_DEV_ATTR_TEMP_RAW(adis16209_read_temp);
425
static IIO_CONST_ATTR_TEMP_OFFSET("25");
426
static IIO_CONST_ATTR_TEMP_SCALE("-0.47");
277
enum adis16209_chan {
288
static const u8 adis16209_addresses[8][2] = {
289
[in_supply] = { ADIS16209_SUPPLY_OUT },
290
[in_aux] = { ADIS16209_AUX_ADC },
291
[accel_x] = { ADIS16209_XACCL_OUT, ADIS16209_XACCL_NULL },
292
[accel_y] = { ADIS16209_YACCL_OUT, ADIS16209_YACCL_NULL },
293
[incli_x] = { ADIS16209_XINCL_OUT, ADIS16209_XINCL_NULL },
294
[incli_y] = { ADIS16209_YINCL_OUT, ADIS16209_YINCL_NULL },
295
[rot] = { ADIS16209_ROT_OUT },
296
[temp] = { ADIS16209_TEMP_OUT },
299
static int adis16209_write_raw(struct iio_dev *indio_dev,
300
struct iio_chan_spec const *chan,
309
case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
310
switch (chan->type) {
318
val16 = val & ((1 << bits) - 1);
319
addr = adis16209_addresses[chan->address][1];
320
return adis16209_spi_write_reg_16(indio_dev, addr, val16);
325
static int adis16209_read_raw(struct iio_dev *indio_dev,
326
struct iio_chan_spec const *chan,
337
mutex_lock(&indio_dev->mlock);
338
addr = adis16209_addresses[chan->address][0];
339
ret = adis16209_spi_read_reg_16(indio_dev, addr, &val16);
343
if (val16 & ADIS16209_ERROR_ACTIVE) {
344
ret = adis16209_check_status(indio_dev);
348
val16 = val16 & ((1 << chan->scan_type.realbits) - 1);
349
if (chan->scan_type.sign == 's')
350
val16 = (s16)(val16 <<
351
(16 - chan->scan_type.realbits)) >>
352
(16 - chan->scan_type.realbits);
354
mutex_unlock(&indio_dev->mlock);
356
case (1 << IIO_CHAN_INFO_SCALE_SEPARATE):
357
case (1 << IIO_CHAN_INFO_SCALE_SHARED):
358
switch (chan->type) {
361
if (chan->channel == 0)
365
return IIO_VAL_INT_PLUS_MICRO;
369
return IIO_VAL_INT_PLUS_MICRO;
373
return IIO_VAL_INT_PLUS_MICRO;
377
return IIO_VAL_INT_PLUS_MICRO;
382
case (1 << IIO_CHAN_INFO_OFFSET_SEPARATE):
385
case (1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE):
386
switch (chan->type) {
393
mutex_lock(&indio_dev->mlock);
394
addr = adis16209_addresses[chan->address][1];
395
ret = adis16209_spi_read_reg_16(indio_dev, addr, &val16);
397
mutex_unlock(&indio_dev->mlock);
400
val16 &= (1 << bits) - 1;
401
val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
403
mutex_unlock(&indio_dev->mlock);
409
static struct iio_chan_spec adis16209_channels[] = {
410
IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 0, 0,
411
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
412
in_supply, ADIS16209_SCAN_SUPPLY,
413
IIO_ST('u', 14, 16, 0), 0),
414
IIO_CHAN(IIO_TEMP, 0, 1, 0, NULL, 0, 0,
415
(1 << IIO_CHAN_INFO_SCALE_SEPARATE) |
416
(1 << IIO_CHAN_INFO_OFFSET_SEPARATE),
417
temp, ADIS16209_SCAN_TEMP,
418
IIO_ST('u', 12, 16, 0), 0),
419
IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_X,
420
(1 << IIO_CHAN_INFO_SCALE_SHARED) |
421
(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
422
accel_x, ADIS16209_SCAN_ACC_X,
423
IIO_ST('s', 14, 16, 0), 0),
424
IIO_CHAN(IIO_ACCEL, 1, 0, 0, NULL, 0, IIO_MOD_Y,
425
(1 << IIO_CHAN_INFO_SCALE_SHARED) |
426
(1 << IIO_CHAN_INFO_CALIBBIAS_SEPARATE),
427
accel_y, ADIS16209_SCAN_ACC_Y,
428
IIO_ST('s', 14, 16, 0), 0),
429
IIO_CHAN(IIO_IN, 0, 1, 0, NULL, 1, 0,
430
(1 << IIO_CHAN_INFO_SCALE_SEPARATE),
431
in_aux, ADIS16209_SCAN_AUX_ADC,
432
IIO_ST('u', 12, 16, 0), 0),
433
IIO_CHAN(IIO_INCLI, 0, 1, 0, NULL, 0, IIO_MOD_X,
434
(1 << IIO_CHAN_INFO_SCALE_SHARED),
435
incli_x, ADIS16209_SCAN_INCLI_X,
436
IIO_ST('s', 14, 16, 0), 0),
437
IIO_CHAN(IIO_INCLI, 0, 1, 0, NULL, 0, IIO_MOD_Y,
438
(1 << IIO_CHAN_INFO_SCALE_SHARED),
439
incli_y, ADIS16209_SCAN_INCLI_Y,
440
IIO_ST('s', 14, 16, 0), 0),
441
IIO_CHAN(IIO_ROT, 0, 1, 0, NULL, 0, IIO_MOD_X,
443
rot, ADIS16209_SCAN_ROT,
444
IIO_ST('s', 14, 16, 0), 0),
445
IIO_CHAN_SOFT_TIMESTAMP(8)
428
448
static IIO_DEVICE_ATTR(reset, S_IWUSR, NULL, adis16209_write_reset, 0);
430
static IIO_CONST_ATTR_NAME("adis16209");
432
static struct attribute *adis16209_event_attributes[] = {
436
static struct attribute_group adis16209_event_attribute_group = {
437
.attrs = adis16209_event_attributes,
440
450
static struct attribute *adis16209_attributes[] = {
441
&iio_dev_attr_in0_supply_raw.dev_attr.attr,
442
&iio_const_attr_in0_supply_scale.dev_attr.attr,
443
&iio_dev_attr_temp_raw.dev_attr.attr,
444
&iio_const_attr_temp_offset.dev_attr.attr,
445
&iio_const_attr_temp_scale.dev_attr.attr,
446
451
&iio_dev_attr_reset.dev_attr.attr,
447
&iio_const_attr_name.dev_attr.attr,
448
&iio_dev_attr_in1_raw.dev_attr.attr,
449
&iio_const_attr_in1_scale.dev_attr.attr,
450
&iio_dev_attr_accel_x_raw.dev_attr.attr,
451
&iio_dev_attr_accel_y_raw.dev_attr.attr,
452
&iio_dev_attr_accel_x_calibbias.dev_attr.attr,
453
&iio_dev_attr_accel_y_calibbias.dev_attr.attr,
454
&iio_const_attr_accel_scale.dev_attr.attr,
455
&iio_dev_attr_incli_x_raw.dev_attr.attr,
456
&iio_dev_attr_incli_y_raw.dev_attr.attr,
457
&iio_const_attr_incli_scale.dev_attr.attr,
458
&iio_dev_attr_rot_raw.dev_attr.attr,