From patchwork Mon Mar 16 12:53:07 2020 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Patchwork-Submitter: Nuno Sa X-Patchwork-Id: 203252 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-9.8 required=3.0 tests=HEADER_FROM_DIFFERENT_DOMAINS, INCLUDES_PATCH, MAILING_LIST_MULTI, SIGNED_OFF_BY, SPF_HELO_NONE, SPF_PASS, USER_AGENT_GIT autolearn=unavailable autolearn_force=no version=3.4.0 Received: from mail.kernel.org (mail.kernel.org [198.145.29.99]) by smtp.lore.kernel.org (Postfix) with ESMTP id 3A472C2BB1D for ; Mon, 16 Mar 2020 12:52:43 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.kernel.org (Postfix) with ESMTP id 16AFE206E2 for ; Mon, 16 Mar 2020 12:52:43 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1731018AbgCPMwm (ORCPT ); Mon, 16 Mar 2020 08:52:42 -0400 Received: from mx0a-00128a01.pphosted.com ([148.163.135.77]:33948 "EHLO mx0a-00128a01.pphosted.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1730980AbgCPMwm (ORCPT ); Mon, 16 Mar 2020 08:52:42 -0400 Received: from pps.filterd (m0167089.ppops.net [127.0.0.1]) by mx0a-00128a01.pphosted.com (8.16.0.42/8.16.0.42) with SMTP id 02GCq4ji024906; Mon, 16 Mar 2020 08:52:22 -0400 Received: from nwd2mta4.analog.com ([137.71.173.58]) by mx0a-00128a01.pphosted.com with ESMTP id 2yrv64ny48-1 (version=TLSv1.2 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=NOT); Mon, 16 Mar 2020 08:52:21 -0400 Received: from SCSQMBX11.ad.analog.com (scsqmbx11.ad.analog.com [10.77.17.10]) by nwd2mta4.analog.com (8.14.7/8.14.7) with ESMTP id 02GCqK52023887 (version=TLSv1/SSLv3 cipher=ECDHE-RSA-AES128-GCM-SHA256 bits=128 verify=FAIL); Mon, 16 Mar 2020 08:52:20 -0400 Received: from SCSQCASHYB7.ad.analog.com (10.77.17.133) by SCSQMBX11.ad.analog.com (10.77.17.10) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_128_GCM_SHA256) id 15.1.1779.2; Mon, 16 Mar 2020 05:52:19 -0700 Received: from SCSQMBX10.ad.analog.com (10.77.17.5) by SCSQCASHYB7.ad.analog.com (10.77.17.133) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_128_GCM_SHA256) id 15.1.1779.2; Mon, 16 Mar 2020 05:52:18 -0700 Received: from zeus.spd.analog.com (10.64.82.11) by SCSQMBX10.ad.analog.com (10.77.17.5) with Microsoft SMTP Server id 15.1.1779.2 via Frontend Transport; Mon, 16 Mar 2020 05:52:18 -0700 Received: from nsa.sphairon.box ([10.44.3.98]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 02GCqD8G003537; Mon, 16 Mar 2020 08:52:15 -0400 From: =?utf-8?q?Nuno_S=C3=A1?= To: , CC: Jonathan Cameron , Hartmut Knaack , Lars-Peter Clausen , Peter Meerwald-Stadler , Rob Herring , Mark Rutland , Alexandru Ardelean , Michael Hennerich Subject: [PATCH v2 1/6] iio: imu: adis: Add Managed device functions Date: Mon, 16 Mar 2020 13:53:07 +0100 Message-ID: <20200316125312.39178-2-nuno.sa@analog.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20200316125312.39178-1-nuno.sa@analog.com> References: <20200316125312.39178-1-nuno.sa@analog.com> MIME-Version: 1.0 X-ADIRoutedOnPrem: True X-Proofpoint-Virus-Version: vendor=fsecure engine=2.50.10434:6.0.138, 18.0.572 definitions=2020-03-16_03:2020-03-12,2020-03-16 signatures=0 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 lowpriorityscore=0 impostorscore=0 priorityscore=1501 suspectscore=2 phishscore=0 adultscore=0 clxscore=1015 bulkscore=0 malwarescore=0 mlxlogscore=785 mlxscore=0 spamscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.12.0-2003020000 definitions=main-2003160064 Sender: devicetree-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: devicetree@vger.kernel.org This patch adds support for a managed device version of adis_setup_buffer_and_trigger. It works exactly as the original one but it calls all the devm_iio_* functions to setup an iio buffer and trigger. Hence we do not need to care about cleaning those and we do not need to support a remove() callback for every driver using the adis library. Signed-off-by: Nuno Sá --- Changes in v2: * Added blank lines for readability. drivers/iio/imu/adis_buffer.c | 36 +++++++++++++++++++++++++++++ drivers/iio/imu/adis_trigger.c | 41 +++++++++++++++++++++++++++++++--- include/linux/iio/imu/adis.h | 17 ++++++++++++++ 3 files changed, 91 insertions(+), 3 deletions(-) diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c index 04e5e2a0fd6b..7871b468e9e9 100644 --- a/drivers/iio/imu/adis_buffer.c +++ b/drivers/iio/imu/adis_buffer.c @@ -198,6 +198,42 @@ int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, } EXPORT_SYMBOL_GPL(adis_setup_buffer_and_trigger); +/** + * devm_adis_setup_buffer_and_trigger() - Sets up buffer and trigger for + * the managed adis device + * @adis: The adis device + * @indio_dev: The IIO device + * @trigger_handler: Optional trigger handler, may be NULL. + * + * Returns 0 on success, a negative error code otherwise. + * + * This function perfoms exactly the same as adis_setup_buffer_and_trigger() + */ +int +devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, + irqreturn_t (*trigger_handler)(int, void *)) +{ + int ret; + + if (!trigger_handler) + trigger_handler = adis_trigger_handler; + + ret = devm_iio_triggered_buffer_setup(&adis->spi->dev, indio_dev, + &iio_pollfunc_store_time, + trigger_handler, NULL); + if (ret) + return ret; + + if (adis->spi->irq) { + ret = devm_adis_probe_trigger(adis, indio_dev); + if (ret) + return ret; + } + + return 0; +} +EXPORT_SYMBOL_GPL(devm_adis_setup_buffer_and_trigger); + /** * adis_cleanup_buffer_and_trigger() - Free buffer and trigger resources * @adis: The adis device. diff --git a/drivers/iio/imu/adis_trigger.c b/drivers/iio/imu/adis_trigger.c index 8b9cd02c0f9f..9e393819d238 100644 --- a/drivers/iio/imu/adis_trigger.c +++ b/drivers/iio/imu/adis_trigger.c @@ -27,6 +27,13 @@ static const struct iio_trigger_ops adis_trigger_ops = { .set_trigger_state = &adis_data_rdy_trigger_set_state, }; +static inline void adis_trigger_setup(struct adis *adis) +{ + adis->trig->dev.parent = &adis->spi->dev; + adis->trig->ops = &adis_trigger_ops; + iio_trigger_set_drvdata(adis->trig, adis); +} + /** * adis_probe_trigger() - Sets up trigger for a adis device * @adis: The adis device @@ -45,9 +52,7 @@ int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) if (adis->trig == NULL) return -ENOMEM; - adis->trig->dev.parent = &adis->spi->dev; - adis->trig->ops = &adis_trigger_ops; - iio_trigger_set_drvdata(adis->trig, adis); + adis_trigger_setup(adis); ret = request_irq(adis->spi->irq, &iio_trigger_generic_data_rdy_poll, @@ -73,6 +78,36 @@ int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) } EXPORT_SYMBOL_GPL(adis_probe_trigger); +/** + * devm_adis_probe_trigger() - Sets up trigger for a managed adis device + * @adis: The adis device + * @indio_dev: The IIO device + * + * Returns 0 on success or a negative error code + */ +int devm_adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) +{ + int ret; + + adis->trig = devm_iio_trigger_alloc(&adis->spi->dev, "%s-dev%d", + indio_dev->name, indio_dev->id); + if (!adis->trig) + return -ENOMEM; + + adis_trigger_setup(adis); + + ret = devm_request_irq(&adis->spi->dev, adis->spi->irq, + &iio_trigger_generic_data_rdy_poll, + IRQF_TRIGGER_RISING, + indio_dev->name, + adis->trig); + if (ret) + return ret; + + return devm_iio_trigger_register(&adis->spi->dev, adis->trig); +} +EXPORT_SYMBOL_GPL(devm_adis_probe_trigger); + /** * adis_remove_trigger() - Remove trigger for a adis devices * @adis: The adis device diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h index dd8219138c2e..ac94c483bf2b 100644 --- a/include/linux/iio/imu/adis.h +++ b/include/linux/iio/imu/adis.h @@ -448,11 +448,15 @@ struct adis_burst { unsigned int extra_len; }; +int +devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, + irqreturn_t (*trigger_handler)(int, void *)); int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, irqreturn_t (*trigger_handler)(int, void *)); void adis_cleanup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev); +int devm_adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev); int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev); void adis_remove_trigger(struct adis *adis); @@ -461,6 +465,13 @@ int adis_update_scan_mode(struct iio_dev *indio_dev, #else /* CONFIG_IIO_BUFFER */ +static inline int +devm_adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, + irqreturn_t (*trigger_handler)(int, void *)) +{ + return 0; +} + static inline int adis_setup_buffer_and_trigger(struct adis *adis, struct iio_dev *indio_dev, irqreturn_t (*trigger_handler)(int, void *)) { @@ -472,6 +483,12 @@ static inline void adis_cleanup_buffer_and_trigger(struct adis *adis, { } +static inline int devm_adis_probe_trigger(struct adis *adis, + struct iio_dev *indio_dev) +{ + return 0; +} + static inline int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) { From patchwork Mon Mar 16 12:53:08 2020 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Patchwork-Submitter: Nuno Sa X-Patchwork-Id: 203251 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-9.8 required=3.0 tests=HEADER_FROM_DIFFERENT_DOMAINS, INCLUDES_PATCH, MAILING_LIST_MULTI, SIGNED_OFF_BY, SPF_HELO_NONE, SPF_PASS, USER_AGENT_GIT autolearn=unavailable autolearn_force=no version=3.4.0 Received: from mail.kernel.org (mail.kernel.org [198.145.29.99]) by smtp.lore.kernel.org (Postfix) with ESMTP id CA068C4CECE for ; Mon, 16 Mar 2020 12:52:43 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.kernel.org (Postfix) with ESMTP id 94F3F20658 for ; Mon, 16 Mar 2020 12:52:43 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1731032AbgCPMwm (ORCPT ); Mon, 16 Mar 2020 08:52:42 -0400 Received: from mx0a-00128a01.pphosted.com ([148.163.135.77]:34002 "EHLO mx0a-00128a01.pphosted.com" rhost-flags-OK-OK-OK-OK) by vger.kernel.org with ESMTP id S1730982AbgCPMwm (ORCPT ); Mon, 16 Mar 2020 08:52:42 -0400 Received: from pps.filterd (m0167089.ppops.net [127.0.0.1]) by mx0a-00128a01.pphosted.com (8.16.0.42/8.16.0.42) with SMTP id 02GCpqkA024413; Mon, 16 Mar 2020 08:52:21 -0400 Received: from nwd2mta3.analog.com ([137.71.173.56]) by mx0a-00128a01.pphosted.com with ESMTP id 2yrv64ny47-1 (version=TLSv1.2 cipher=ECDHE-RSA-AES256-GCM-SHA384 bits=256 verify=NOT); Mon, 16 Mar 2020 08:52:21 -0400 Received: from ASHBMBX9.ad.analog.com (ashbmbx9.ad.analog.com [10.64.17.10]) by nwd2mta3.analog.com (8.14.7/8.14.7) with ESMTP id 02GCqKUd027799 (version=TLSv1/SSLv3 cipher=ECDHE-RSA-AES128-GCM-SHA256 bits=128 verify=FAIL); Mon, 16 Mar 2020 08:52:20 -0400 Received: from ASHBCASHYB5.ad.analog.com (10.64.17.133) by ASHBMBX9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_128_GCM_SHA256) id 15.1.1779.2; Mon, 16 Mar 2020 08:52:19 -0400 Received: from ASHBMBX9.ad.analog.com (10.64.17.10) by ASHBCASHYB5.ad.analog.com (10.64.17.133) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_128_GCM_SHA256) id 15.1.1779.2; Mon, 16 Mar 2020 08:52:19 -0400 Received: from zeus.spd.analog.com (10.64.82.11) by ASHBMBX9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server id 15.1.1779.2 via Frontend Transport; Mon, 16 Mar 2020 08:52:19 -0400 Received: from nsa.sphairon.box ([10.44.3.98]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 02GCqD8H003537; Mon, 16 Mar 2020 08:52:17 -0400 From: =?utf-8?q?Nuno_S=C3=A1?= To: , CC: Jonathan Cameron , Hartmut Knaack , Lars-Peter Clausen , Peter Meerwald-Stadler , Rob Herring , Mark Rutland , Alexandru Ardelean , Michael Hennerich Subject: [PATCH v2 2/6] iio: imu: adis: Add irq mask variable Date: Mon, 16 Mar 2020 13:53:08 +0100 Message-ID: <20200316125312.39178-3-nuno.sa@analog.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20200316125312.39178-1-nuno.sa@analog.com> References: <20200316125312.39178-1-nuno.sa@analog.com> MIME-Version: 1.0 X-ADIRoutedOnPrem: True X-Proofpoint-Virus-Version: vendor=fsecure engine=2.50.10434:6.0.138, 18.0.572 definitions=2020-03-16_03:2020-03-12,2020-03-16 signatures=0 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 lowpriorityscore=0 impostorscore=0 priorityscore=1501 suspectscore=0 phishscore=0 adultscore=0 clxscore=1015 bulkscore=0 malwarescore=0 mlxlogscore=999 mlxscore=0 spamscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.12.0-2003020000 definitions=main-2003160064 Sender: devicetree-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: devicetree@vger.kernel.org There are some ADIS devices that can configure the data ready pin polarity. Hence, we cannot hardcode our IRQ mask as IRQF_TRIGGER_RISING since we might want to have it as IRQF_TRIGGER_FALLING. Signed-off-by: Nuno Sá --- Changes in v2: * Add kernel doc-string for `irq-mask`. drivers/iio/imu/adis_trigger.c | 26 ++++++++++++++++++++++++-- include/linux/iio/imu/adis.h | 2 ++ 2 files changed, 26 insertions(+), 2 deletions(-) diff --git a/drivers/iio/imu/adis_trigger.c b/drivers/iio/imu/adis_trigger.c index 9e393819d238..21eddffc50d3 100644 --- a/drivers/iio/imu/adis_trigger.c +++ b/drivers/iio/imu/adis_trigger.c @@ -34,6 +34,20 @@ static inline void adis_trigger_setup(struct adis *adis) iio_trigger_set_drvdata(adis->trig, adis); } +static inline int __adis_validate_irq_mask(struct adis *adis) +{ + if (!adis->irq_mask) { + adis->irq_mask = IRQF_TRIGGER_RISING; + return 0; + } else if (adis->irq_mask != IRQF_TRIGGER_RISING && + adis->irq_mask != IRQF_TRIGGER_FALLING) { + dev_err(&adis->spi->dev, "Invalid IRQ mask:%08lx\n", + adis->irq_mask); + return -EINVAL; + } + + return 0; +} /** * adis_probe_trigger() - Sets up trigger for a adis device * @adis: The adis device @@ -54,9 +68,13 @@ int adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) adis_trigger_setup(adis); + ret = __adis_validate_irq_mask(adis); + if (ret) + return ret; + ret = request_irq(adis->spi->irq, &iio_trigger_generic_data_rdy_poll, - IRQF_TRIGGER_RISING, + adis->irq_mask, indio_dev->name, adis->trig); if (ret) @@ -96,9 +114,13 @@ int devm_adis_probe_trigger(struct adis *adis, struct iio_dev *indio_dev) adis_trigger_setup(adis); + ret = __adis_validate_irq_mask(adis); + if (ret) + return ret; + ret = devm_request_irq(&adis->spi->dev, adis->spi->irq, &iio_trigger_generic_data_rdy_poll, - IRQF_TRIGGER_RISING, + adis->irq_mask, indio_dev->name, adis->trig); if (ret) diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h index ac94c483bf2b..ed41c6b96d14 100644 --- a/include/linux/iio/imu/adis.h +++ b/include/linux/iio/imu/adis.h @@ -87,6 +87,7 @@ struct adis_data { * @msg: SPI message object * @xfer: SPI transfer objects to be used for a @msg * @current_page: Some ADIS devices have registers, this selects current page + * @irq_mask: IRQ handling flags as passed to request_irq() * @buffer: Data buffer for information read from the device * @tx: DMA safe TX buffer for SPI transfers * @rx: DMA safe RX buffer for SPI transfers @@ -113,6 +114,7 @@ struct adis { struct spi_message msg; struct spi_transfer *xfer; unsigned int current_page; + unsigned long irq_mask; void *buffer; uint8_t tx[10] ____cacheline_aligned; From patchwork Mon Mar 16 12:53:10 2020 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Patchwork-Submitter: Nuno Sa X-Patchwork-Id: 203250 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-9.8 required=3.0 tests=HEADER_FROM_DIFFERENT_DOMAINS, INCLUDES_PATCH, MAILING_LIST_MULTI, SIGNED_OFF_BY, SPF_HELO_NONE, SPF_PASS, USER_AGENT_GIT autolearn=ham autolearn_force=no version=3.4.0 Received: from mail.kernel.org (mail.kernel.org [198.145.29.99]) by smtp.lore.kernel.org (Postfix) with ESMTP id 32D2EC0044D for ; Mon, 16 Mar 2020 12:52:47 +0000 (UTC) Received: from vger.kernel.org (vger.kernel.org [209.132.180.67]) by mail.kernel.org (Postfix) with ESMTP id 14802205ED for ; Mon, 16 Mar 2020 12:52:47 +0000 (UTC) Received: (majordomo@vger.kernel.org) by vger.kernel.org via listexpand id S1731045AbgCPMwq (ORCPT ); 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Mon, 16 Mar 2020 08:52:22 -0400 Received: from zeus.spd.analog.com (10.64.82.11) by ASHBMBX8.ad.analog.com (10.64.17.5) with Microsoft SMTP Server id 15.1.1779.2 via Frontend Transport; Mon, 16 Mar 2020 08:52:22 -0400 Received: from nsa.sphairon.box ([10.44.3.98]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 02GCqD8J003537; Mon, 16 Mar 2020 08:52:20 -0400 From: =?utf-8?q?Nuno_S=C3=A1?= To: , CC: Jonathan Cameron , Hartmut Knaack , Lars-Peter Clausen , Peter Meerwald-Stadler , Rob Herring , Mark Rutland , Alexandru Ardelean , Michael Hennerich Subject: [PATCH v2 4/6] iio: adis: Add burst_max_len variable Date: Mon, 16 Mar 2020 13:53:10 +0100 Message-ID: <20200316125312.39178-5-nuno.sa@analog.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20200316125312.39178-1-nuno.sa@analog.com> References: <20200316125312.39178-1-nuno.sa@analog.com> MIME-Version: 1.0 X-ADIRoutedOnPrem: True X-Proofpoint-Virus-Version: vendor=fsecure engine=2.50.10434:6.0.138, 18.0.572 definitions=2020-03-16_03:2020-03-12,2020-03-16 signatures=0 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 lowpriorityscore=0 impostorscore=0 priorityscore=1501 suspectscore=0 phishscore=0 adultscore=0 clxscore=1015 bulkscore=0 malwarescore=0 mlxlogscore=999 mlxscore=0 spamscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.12.0-2003020000 definitions=main-2003160064 Sender: devicetree-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: devicetree@vger.kernel.org Add burst_max_len to `adis_burst`. This is useful for devices which support different burst modes with different sizes. The buffer to be used in the spi transfer is allocated with this variable making sure that has space for all burst modes. The spi transfer length should hold the "real" burst length depending on the current burst mode configured in the device. Signed-off-by: Nuno Sá --- drivers/iio/imu/adis_buffer.c | 11 ++++++++--- include/linux/iio/imu/adis.h | 3 +++ 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c index 7871b468e9e9..ddf4bdca7e72 100644 --- a/drivers/iio/imu/adis_buffer.c +++ b/drivers/iio/imu/adis_buffer.c @@ -23,25 +23,30 @@ static int adis_update_scan_mode_burst(struct iio_dev *indio_dev, const unsigned long *scan_mask) { struct adis *adis = iio_device_get_drvdata(indio_dev); - unsigned int burst_length; + unsigned int burst_length, burst_max_length; u8 *tx; /* All but the timestamp channel */ burst_length = (indio_dev->num_channels - 1) * sizeof(u16); burst_length += adis->burst->extra_len; + if (adis->burst->burst_max_len) + burst_max_length = adis->burst->burst_max_len; + else + burst_max_length = burst_length; + adis->xfer = kcalloc(2, sizeof(*adis->xfer), GFP_KERNEL); if (!adis->xfer) return -ENOMEM; - adis->buffer = kzalloc(burst_length + sizeof(u16), GFP_KERNEL); + adis->buffer = kzalloc(burst_max_length + sizeof(u16), GFP_KERNEL); if (!adis->buffer) { kfree(adis->xfer); adis->xfer = NULL; return -ENOMEM; } - tx = adis->buffer + burst_length; + tx = adis->buffer + burst_max_length; tx[0] = ADIS_READ_REG(adis->burst->reg_cmd); tx[1] = 0; diff --git a/include/linux/iio/imu/adis.h b/include/linux/iio/imu/adis.h index 94031b3fc9d5..5bdd6f457e78 100644 --- a/include/linux/iio/imu/adis.h +++ b/include/linux/iio/imu/adis.h @@ -502,11 +502,14 @@ int adis_single_conversion(struct iio_dev *indio_dev, * @en burst mode enabled * @reg_cmd register command that triggers burst * @extra_len extra length to account in the SPI RX buffer + * @burst_max_len holds the maximum burst size when the device supports + * more than one burst mode with different sizes */ struct adis_burst { bool en; unsigned int reg_cmd; unsigned int extra_len; + const u32 burst_max_len; }; int From patchwork Mon Mar 16 12:53:11 2020 Content-Type: text/plain; charset="utf-8" MIME-Version: 1.0 Content-Transfer-Encoding: 8bit X-Patchwork-Submitter: Nuno Sa X-Patchwork-Id: 203249 Return-Path: X-Spam-Checker-Version: SpamAssassin 3.4.0 (2014-02-07) on aws-us-west-2-korg-lkml-1.web.codeaurora.org X-Spam-Level: X-Spam-Status: No, score=-9.8 required=3.0 tests=HEADER_FROM_DIFFERENT_DOMAINS, INCLUDES_PATCH, MAILING_LIST_MULTI, SIGNED_OFF_BY, SPF_HELO_NONE, SPF_PASS, USER_AGENT_GIT autolearn=unavailable autolearn_force=no version=3.4.0 Received: from mail.kernel.org (mail.kernel.org [198.145.29.99]) by smtp.lore.kernel.org (Postfix) with ESMTP id 4F9FEC3F2CE for ; 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Mon, 16 Mar 2020 08:52:25 -0400 Received: from ASHBMBX9.ad.analog.com (10.64.17.10) by ASHBMBX9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server (version=TLS1_2, cipher=TLS_ECDHE_RSA_WITH_AES_128_GCM_SHA256) id 15.1.1779.2; Mon, 16 Mar 2020 08:52:24 -0400 Received: from zeus.spd.analog.com (10.64.82.11) by ASHBMBX9.ad.analog.com (10.64.17.10) with Microsoft SMTP Server id 15.1.1779.2 via Frontend Transport; Mon, 16 Mar 2020 08:52:24 -0400 Received: from nsa.sphairon.box ([10.44.3.98]) by zeus.spd.analog.com (8.15.1/8.15.1) with ESMTP id 02GCqD8K003537; Mon, 16 Mar 2020 08:52:21 -0400 From: =?utf-8?q?Nuno_S=C3=A1?= To: , CC: Jonathan Cameron , Hartmut Knaack , Lars-Peter Clausen , Peter Meerwald-Stadler , Rob Herring , Mark Rutland , Alexandru Ardelean , Michael Hennerich Subject: [PATCH v2 5/6] iio: imu: Add support for adis16475 Date: Mon, 16 Mar 2020 13:53:11 +0100 Message-ID: <20200316125312.39178-6-nuno.sa@analog.com> X-Mailer: git-send-email 2.25.1 In-Reply-To: <20200316125312.39178-1-nuno.sa@analog.com> References: <20200316125312.39178-1-nuno.sa@analog.com> MIME-Version: 1.0 X-ADIRoutedOnPrem: True X-Proofpoint-Virus-Version: vendor=fsecure engine=2.50.10434:6.0.138, 18.0.572 definitions=2020-03-16_03:2020-03-12,2020-03-16 signatures=0 X-Proofpoint-Spam-Details: rule=outbound_notspam policy=outbound score=0 lowpriorityscore=0 impostorscore=0 priorityscore=1501 suspectscore=0 phishscore=0 adultscore=0 clxscore=1015 bulkscore=0 malwarescore=0 mlxlogscore=999 mlxscore=0 spamscore=0 classifier=spam adjust=0 reason=mlx scancount=1 engine=8.12.0-2003020000 definitions=main-2003160064 Sender: devicetree-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: devicetree@vger.kernel.org Support ADIS16475 and similar IMU devices. These devices are a precision, miniature MEMS inertial measurement unit (IMU) that includes a triaxial gyroscope and a triaxial accelerometer. Each inertial sensor combines with signal conditioning that optimizes dynamic performance. The driver adds support for the following devices: * adis16470, adis16475, adis16477, adis16465, adis16467, adis16500, adis16505, adis16507. Signed-off-by: Nuno Sá --- Changes in v2: * Remove burst mode config (enabled by default); * Fix timestamp channel index; * Do return code checks inline in `adis16475_read_raw`; * Increase buffer size to fit aligned timestamp; * Remove spi_device_id table; * Rename `adis16475_clks` to `adis16475_sync`; * Rename `adis16475_config_ext_clk` `adis16475_config_sync_mode`; * Fix output-sync mode. There's no need to call clk_get in this mode as it acts as an output pin; * Fix scaled-mode configuration. Up scale was not being written on the right register; * Handle burst32 configuration at runtime. When the decimation or the FIR filter is enabled the LSB bits are meangninfull. Hence, use burst32 in that case (if the part supports it); * When there's no burst32 mode and the LSB data is meangninfull, read it manually... * Do not push data to buffers if crc is invalid. MAINTAINERS | 8 + drivers/iio/imu/Kconfig | 13 + drivers/iio/imu/Makefile | 1 + drivers/iio/imu/adis16475.c | 1344 +++++++++++++++++++++++++++++++++++ 4 files changed, 1366 insertions(+) create mode 100644 drivers/iio/imu/adis16475.c diff --git a/MAINTAINERS b/MAINTAINERS index 8fa40c3eb72a..f11262f1f3bb 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -1008,6 +1008,14 @@ W: http://ez.analog.com/community/linux-device-drivers F: drivers/iio/imu/adis16460.c F: Documentation/devicetree/bindings/iio/imu/adi,adis16460.yaml +ANALOG DEVICES INC ADIS16475 DRIVER +M: Nuno Sa +L: linux-iio@vger.kernel.org +W: http://ez.analog.com/community/linux-device-drivers +S: Supported +F: drivers/iio/imu/adis16475.c +F: Documentation/ABI/testing/sysfs-bus-iio-imu-adis16475 + ANALOG DEVICES INC ADM1177 DRIVER M: Beniamin Bia M: Michael Hennerich diff --git a/drivers/iio/imu/Kconfig b/drivers/iio/imu/Kconfig index 60bb1029e759..fc4123d518bc 100644 --- a/drivers/iio/imu/Kconfig +++ b/drivers/iio/imu/Kconfig @@ -29,6 +29,19 @@ config ADIS16460 To compile this driver as a module, choose M here: the module will be called adis16460. +config ADIS16475 + tristate "Analog Devices ADIS16475 and similar IMU driver" + depends on SPI + select IIO_ADIS_LIB + select IIO_ADIS_LIB_BUFFER if IIO_BUFFER + help + Say yes here to build support for Analog Devices ADIS16470, ADIS16475, + ADIS16477, ADIS16465, ADIS16467, ADIS16500, ADIS16505, ADIS16507 inertial + sensors. + + To compile this driver as a module, choose M here: the module will be + called adis16475. + config ADIS16480 tristate "Analog Devices ADIS16480 and similar IMU driver" depends on SPI diff --git a/drivers/iio/imu/Makefile b/drivers/iio/imu/Makefile index 5237fd4bc384..88b2c4555230 100644 --- a/drivers/iio/imu/Makefile +++ b/drivers/iio/imu/Makefile @@ -6,6 +6,7 @@ # When adding new entries keep the list in alphabetical order obj-$(CONFIG_ADIS16400) += adis16400.o obj-$(CONFIG_ADIS16460) += adis16460.o +obj-$(CONFIG_ADIS16475) += adis16475.o obj-$(CONFIG_ADIS16480) += adis16480.o adis_lib-y += adis.o diff --git a/drivers/iio/imu/adis16475.c b/drivers/iio/imu/adis16475.c new file mode 100644 index 000000000000..2ac632cad173 --- /dev/null +++ b/drivers/iio/imu/adis16475.c @@ -0,0 +1,1344 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * ADIS16475 IMU driver + * + * Copyright 2019 Analog Devices Inc. + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define ADIS16475_REG_DIAG_STAT 0x02 +#define ADIS16475_REG_X_GYRO_L 0x04 +#define ADIS16475_REG_Y_GYRO_L 0x08 +#define ADIS16475_REG_Z_GYRO_L 0x0C +#define ADIS16475_REG_X_ACCEL_L 0x10 +#define ADIS16475_REG_Y_ACCEL_L 0x14 +#define ADIS16475_REG_Z_ACCEL_L 0x18 +#define ADIS16475_REG_TEMP_OUT 0x1c +#define ADIS16475_REG_X_GYRO_BIAS_L 0x40 +#define ADIS16475_REG_Y_GYRO_BIAS_L 0x44 +#define ADIS16475_REG_Z_GYRO_BIAS_L 0x48 +#define ADIS16475_REG_X_ACCEL_BIAS_L 0x4c +#define ADIS16475_REG_Y_ACCEL_BIAS_L 0x50 +#define ADIS16475_REG_Z_ACCEL_BIAS_L 0x54 +#define ADIS16475_REG_FILT_CTRL 0x5c +#define ADIS16475_FILT_CTRL_MASK GENMASK(2, 0) +#define ADIS16475_FILT_CTRL(x) FIELD_PREP(ADIS16475_FILT_CTRL_MASK, x) +#define ADIS16475_REG_MSG_CTRL 0x60 +#define ADIS16475_MSG_CTRL_DR_POL_MASK BIT(0) +#define ADIS16475_MSG_CTRL_DR_POL(x) \ + FIELD_PREP(ADIS16475_MSG_CTRL_DR_POL_MASK, x) +#define ADIS16475_SYNC_MODE_MASK GENMASK(4, 2) +#define ADIS16475_SYNC_MODE(x) FIELD_PREP(ADIS16475_SYNC_MODE_MASK, x) +#define ADIS16475_REG_UP_SCALE 0x62 +#define ADIS16475_REG_DEC_RATE 0x64 +#define ADIS16475_REG_GLOB_CMD 0x68 +#define ADIS16475_REG_FIRM_REV 0x6c +#define ADIS16475_REG_FIRM_DM 0x6e +#define ADIS16475_REG_FIRM_Y 0x70 +#define ADIS16475_REG_PROD_ID 0x72 +#define ADIS16475_REG_SERIAL_NUM 0x74 +#define ADIS16475_REG_FLASH_CNT 0x7c +#define ADIS16500_BURST32_MASK BIT(9) +#define ADIS16500_BURST32(x) FIELD_PREP(ADIS16500_BURST32_MASK, x) +/* number of data elements in burst mode */ +#define ADIS16475_BURST32_MAX_DATA 32 +#define ADIS16475_BURST_MAX_DATA 20 +#define ADIS16475_MAX_SCAN_DATA 20 +/* spi max speed in brust mode */ +#define ADIS16475_BURST_MAX_SPEED 1000000 +#define ADIS16475_LSB_DEC_MASK BIT(0) +#define ADIS16475_LSB_FIR_MASK BIT(1) + +enum { + ADIS16475_SYNC_DIRECT = 1, + ADIS16475_SYNC_SCALED, + ADIS16475_SYNC_OUTPUT, + ADIS16475_SYNC_PULSE = 5, +}; + +struct adis16475_sync { + u16 sync_mode; + u16 min_rate; + u16 max_rate; +}; + +struct adis16475_chip_info { + const struct iio_chan_spec *channels; + const struct adis16475_sync *sync; + const struct adis_data adis_data; + const char *name; + u32 num_channels; + u32 gyro_max_val; + u32 gyro_max_scale; + u32 accel_max_val; + u32 accel_max_scale; + u32 temp_scale; + u32 int_clk; + u16 max_dec; + u8 num_sync; + bool has_burst32; +}; + +struct adis16475 { + const struct adis16475_chip_info *info; + struct adis adis; + u32 clk_freq; + bool burst32; + unsigned long lsb_flag; +}; + +enum { + ADIS16475_SCAN_GYRO_X, + ADIS16475_SCAN_GYRO_Y, + ADIS16475_SCAN_GYRO_Z, + ADIS16475_SCAN_ACCEL_X, + ADIS16475_SCAN_ACCEL_Y, + ADIS16475_SCAN_ACCEL_Z, + ADIS16475_SCAN_TEMP, + ADIS16475_SCAN_DIAG_S_FLAGS, + ADIS16475_SCAN_CRC_FAILURE, +}; + +#ifdef CONFIG_DEBUG_FS +static ssize_t adis16475_show_firmware_revision(struct file *file, + char __user *userbuf, + size_t count, loff_t *ppos) +{ + struct adis16475 *st = file->private_data; + char buf[7]; + size_t len; + u16 rev; + int ret; + + ret = adis_read_reg_16(&st->adis, ADIS16475_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 adis16475_firmware_revision_fops = { + .open = simple_open, + .read = adis16475_show_firmware_revision, + .llseek = default_llseek, + .owner = THIS_MODULE, +}; + +static ssize_t adis16475_show_firmware_date(struct file *file, + char __user *userbuf, + size_t count, loff_t *ppos) +{ + struct adis16475 *st = file->private_data; + u16 md, year; + char buf[12]; + size_t len; + int ret; + + ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIRM_Y, &year); + if (ret) + return ret; + + ret = adis_read_reg_16(&st->adis, ADIS16475_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 adis16475_firmware_date_fops = { + .open = simple_open, + .read = adis16475_show_firmware_date, + .llseek = default_llseek, + .owner = THIS_MODULE, +}; + +static int adis16475_show_serial_number(void *arg, u64 *val) +{ + struct adis16475 *st = arg; + u16 serial; + int ret; + + ret = adis_read_reg_16(&st->adis, ADIS16475_REG_SERIAL_NUM, &serial); + if (ret) + return ret; + + *val = serial; + + return 0; +} +DEFINE_SIMPLE_ATTRIBUTE(adis16475_serial_number_fops, + adis16475_show_serial_number, NULL, "0x%.4llx\n"); + +static int adis16475_show_product_id(void *arg, u64 *val) +{ + struct adis16475 *st = arg; + u16 prod_id; + int ret; + + ret = adis_read_reg_16(&st->adis, ADIS16475_REG_PROD_ID, &prod_id); + if (ret) + return ret; + + *val = prod_id; + + return 0; +} +DEFINE_SIMPLE_ATTRIBUTE(adis16475_product_id_fops, + adis16475_show_product_id, NULL, "%llu\n"); + +static int adis16475_show_flash_count(void *arg, u64 *val) +{ + struct adis16475 *st = arg; + u32 flash_count; + int ret; + + ret = adis_read_reg_32(&st->adis, ADIS16475_REG_FLASH_CNT, + &flash_count); + if (ret) + return ret; + + *val = flash_count; + + return 0; +} +DEFINE_SIMPLE_ATTRIBUTE(adis16475_flash_count_fops, + adis16475_show_flash_count, NULL, "%lld\n"); + +static int adis16475_debugfs_init(struct iio_dev *indio_dev) +{ + struct adis16475 *st = iio_priv(indio_dev); + + debugfs_create_file("serial_number", 0400, indio_dev->debugfs_dentry, + st, &adis16475_serial_number_fops); + debugfs_create_file("product_id", 0400, indio_dev->debugfs_dentry, st, + &adis16475_product_id_fops); + debugfs_create_file("flash_count", 0400, indio_dev->debugfs_dentry, st, + &adis16475_flash_count_fops); + debugfs_create_file("firmware_revision", 0400, + indio_dev->debugfs_dentry, st, + &adis16475_firmware_revision_fops); + debugfs_create_file("firmware_date", 0400, indio_dev->debugfs_dentry, + st, &adis16475_firmware_date_fops); + return 0; +} +#else +static int adis16475_debugfs_init(struct iio_dev *indio_dev) +{ + return 0; +} +#endif + +static int adis16475_get_freq(struct adis16475 *st, u32 *freq) +{ + int ret; + u16 dec; + + ret = adis_read_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, &dec); + if (ret) + return -EINVAL; + + *freq = DIV_ROUND_CLOSEST(st->clk_freq, dec + 1); + + return 0; +} + +static int adis16475_set_freq(struct adis16475 *st, const u32 freq) +{ + u16 dec; + int ret; + + if (freq == 0 || freq > st->clk_freq) + return -EINVAL; + + dec = DIV_ROUND_CLOSEST(st->clk_freq, freq); + + if (dec) + dec--; + + if (dec > st->info->max_dec) + dec = st->info->max_dec; + + ret = adis_write_reg_16(&st->adis, ADIS16475_REG_DEC_RATE, dec); + if (ret) + return ret; + + /* + * If decimation is used, then gyro and accel data will have meaningfull + * bits on the LSB registers. This info is used on the trigger handler. + */ + if (!dec) + clear_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag); + else + set_bit(ADIS16475_LSB_DEC_MASK, &st->lsb_flag); + + return 0; +} + +/* The values are approximated. */ +static const u32 adis16475_3db_freqs[] = { + [0] = 720, /* Filter disabled, full BW (~720Hz) */ + [1] = 360, + [2] = 164, + [3] = 80, + [4] = 40, + [5] = 20, + [6] = 10, + [7] = 10, /* not a valid setting */ +}; + +static int adis16475_get_filter(struct adis16475 *st, u32 *filter) +{ + u16 filter_sz; + int ret; + const int mask = ADIS16475_FILT_CTRL_MASK; + + ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, &filter_sz); + if (ret) + return ret; + + *filter = adis16475_3db_freqs[filter_sz & mask]; + + return 0; +} + +static int adis16475_set_filter(struct adis16475 *st, const u32 filter) +{ + int i; + int ret; + + for (i = ARRAY_SIZE(adis16475_3db_freqs) - 1; i >= 1; i--) { + if (adis16475_3db_freqs[i] >= filter) + break; + } + + ret = adis_write_reg_16(&st->adis, ADIS16475_REG_FILT_CTRL, + ADIS16475_FILT_CTRL(i)); + if (ret) + return ret; + + /* + * If FIR is used, then gyro and accel data will have meaningfull + * bits on the LSB registers. This info is used on the trigger handler. + */ + if (!i) + clear_bit(ADIS16475_LSB_FIR_MASK, &st->lsb_flag); + else + set_bit(ADIS16475_LSB_FIR_MASK, &st->lsb_flag); + + return 0; +} + +static const u32 adis16475_calib_regs[] = { + [ADIS16475_SCAN_GYRO_X] = ADIS16475_REG_X_GYRO_BIAS_L, + [ADIS16475_SCAN_GYRO_Y] = ADIS16475_REG_Y_GYRO_BIAS_L, + [ADIS16475_SCAN_GYRO_Z] = ADIS16475_REG_Z_GYRO_BIAS_L, + [ADIS16475_SCAN_ACCEL_X] = ADIS16475_REG_X_ACCEL_BIAS_L, + [ADIS16475_SCAN_ACCEL_Y] = ADIS16475_REG_Y_ACCEL_BIAS_L, + [ADIS16475_SCAN_ACCEL_Z] = ADIS16475_REG_Z_ACCEL_BIAS_L, +}; + +static int adis16475_read_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + int *val, int *val2, long info) +{ + struct adis16475 *st = iio_priv(indio_dev); + int ret; + u32 tmp; + + 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->info->gyro_max_val; + *val2 = st->info->gyro_max_scale; + return IIO_VAL_FRACTIONAL; + case IIO_ACCEL: + *val = st->info->accel_max_val; + *val2 = st->info->accel_max_scale; + return IIO_VAL_FRACTIONAL; + case IIO_TEMP: + *val = st->info->temp_scale; + return IIO_VAL_INT; + default: + return -EINVAL; + } + case IIO_CHAN_INFO_CALIBBIAS: + ret = adis_read_reg_32(&st->adis, + adis16475_calib_regs[chan->scan_index], + val); + if (ret) + return ret; + + return IIO_VAL_INT; + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + ret = adis16475_get_filter(st, val); + if (ret) + return ret; + + return IIO_VAL_INT; + case IIO_CHAN_INFO_SAMP_FREQ: + ret = adis16475_get_freq(st, &tmp); + if (ret) + return ret; + + *val = tmp / 1000; + *val2 = (tmp % 1000) * 1000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static int adis16475_write_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + int val, int val2, long info) +{ + struct adis16475 *st = iio_priv(indio_dev); + u32 tmp; + + switch (info) { + case IIO_CHAN_INFO_SAMP_FREQ: + tmp = val * 1000 + val2 / 1000; + return adis16475_set_freq(st, tmp); + case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY: + return adis16475_set_filter(st, val); + case IIO_CHAN_INFO_CALIBBIAS: + return adis_write_reg_32(&st->adis, + adis16475_calib_regs[chan->scan_index], + val); + default: + return -EINVAL; + } +} + +#define ADIS16475_MOD_CHAN(_type, _mod, _address, _si, _r_bits, _s_bits) \ + { \ + .type = (_type), \ + .modified = 1, \ + .channel2 = (_mod), \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_CALIBBIAS), \ + .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .address = (_address), \ + .scan_index = (_si), \ + .scan_type = { \ + .sign = 's', \ + .realbits = (_r_bits), \ + .storagebits = (_s_bits), \ + .endianness = IIO_BE, \ + }, \ + } + +#define ADIS16475_GYRO_CHANNEL(_mod) \ + ADIS16475_MOD_CHAN(IIO_ANGL_VEL, IIO_MOD_ ## _mod, \ + ADIS16475_REG_ ## _mod ## _GYRO_L, ADIS16475_SCAN_GYRO_ ## _mod, 32, \ + 32) + +#define ADIS16475_ACCEL_CHANNEL(_mod) \ + ADIS16475_MOD_CHAN(IIO_ACCEL, IIO_MOD_ ## _mod, \ + ADIS16475_REG_ ## _mod ## _ACCEL_L, ADIS16475_SCAN_ACCEL_ ## _mod, 32, \ + 32) + +#define ADIS16475_TEMP_CHANNEL() { \ + .type = IIO_TEMP, \ + .indexed = 1, \ + .channel = 0, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \ + BIT(IIO_CHAN_INFO_SCALE), \ + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ) | \ + BIT(IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY), \ + .address = ADIS16475_REG_TEMP_OUT, \ + .scan_index = ADIS16475_SCAN_TEMP, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 16, \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ + } + +static const struct iio_chan_spec adis16475_channels[] = { + ADIS16475_GYRO_CHANNEL(X), + ADIS16475_GYRO_CHANNEL(Y), + ADIS16475_GYRO_CHANNEL(Z), + ADIS16475_ACCEL_CHANNEL(X), + ADIS16475_ACCEL_CHANNEL(Y), + ADIS16475_ACCEL_CHANNEL(Z), + ADIS16475_TEMP_CHANNEL(), + IIO_CHAN_SOFT_TIMESTAMP(7) +}; + +enum adis16475_variant { + ADIS16470, + ADIS16475_1, + ADIS16475_2, + ADIS16475_3, + ADIS16477_1, + ADIS16477_2, + ADIS16477_3, + ADIS16465_1, + ADIS16465_2, + ADIS16465_3, + ADIS16467_1, + ADIS16467_2, + ADIS16467_3, + ADIS16500, + ADIS16505_1, + ADIS16505_2, + ADIS16505_3, + ADIS16507_1, + ADIS16507_2, + ADIS16507_3, + +}; + +enum { + ADIS16475_DIAG_STAT_DATA_PATH = 1, + ADIS16475_DIAG_STAT_FLASH_MEM, + ADIS16475_DIAG_STAT_SPI, + ADIS16475_DIAG_STAT_STANDBY, + ADIS16475_DIAG_STAT_SENSOR, + ADIS16475_DIAG_STAT_MEMORY, + ADIS16475_DIAG_STAT_CLK, +}; + +static const char * const adis16475_status_error_msgs[] = { + [ADIS16475_DIAG_STAT_DATA_PATH] = "Data Path Overrun", + [ADIS16475_DIAG_STAT_FLASH_MEM] = "Flash memory update failure", + [ADIS16475_DIAG_STAT_SPI] = "SPI communication error", + [ADIS16475_DIAG_STAT_STANDBY] = "Standby mode", + [ADIS16475_DIAG_STAT_SENSOR] = "Sensor failure", + [ADIS16475_DIAG_STAT_MEMORY] = "Memory failure", + [ADIS16475_DIAG_STAT_CLK] = "Clock error", +}; + +static int adis16475_enable_irq(struct adis *adis, bool enable) +{ + /* + * There is no way to gate the data-ready signal internally inside the + * ADIS16475. We can only control it's polarity... + */ + if (enable) + enable_irq(adis->spi->irq); + else + disable_irq(adis->spi->irq); + + return 0; +} + +#define ADIS16475_DATA(_prod_id, _timeouts) \ +{ \ + .msc_ctrl_reg = ADIS16475_REG_MSG_CTRL, \ + .glob_cmd_reg = ADIS16475_REG_GLOB_CMD, \ + .diag_stat_reg = ADIS16475_REG_DIAG_STAT, \ + .prod_id_reg = ADIS16475_REG_PROD_ID, \ + .prod_id = (_prod_id), \ + .self_test_mask = BIT(2), \ + .self_test_reg = ADIS16475_REG_GLOB_CMD, \ + .cs_change_delay = 16, \ + .read_delay = 5, \ + .write_delay = 5, \ + .status_error_msgs = adis16475_status_error_msgs, \ + .status_error_mask = BIT(ADIS16475_DIAG_STAT_DATA_PATH) | \ + BIT(ADIS16475_DIAG_STAT_FLASH_MEM) | \ + BIT(ADIS16475_DIAG_STAT_SPI) | \ + BIT(ADIS16475_DIAG_STAT_STANDBY) | \ + BIT(ADIS16475_DIAG_STAT_SENSOR) | \ + BIT(ADIS16475_DIAG_STAT_MEMORY) | \ + BIT(ADIS16475_DIAG_STAT_CLK), \ + .enable_irq = adis16475_enable_irq, \ + .timeouts = (_timeouts), \ +} + +static const struct adis16475_sync adis16475_sync_mode[] = { + { ADIS16475_SYNC_OUTPUT }, + { ADIS16475_SYNC_DIRECT, 1900, 2100 }, + { ADIS16475_SYNC_SCALED, 1, 128 }, + { ADIS16475_SYNC_PULSE, 1000, 2100 }, +}; + +static const struct adis_timeout adis16475_timeouts = { + .reset_ms = 200, + .sw_reset_ms = 200, + .self_test_ms = 20, +}; + +static const struct adis_timeout adis1650x_timeouts = { + .reset_ms = 260, + .sw_reset_ms = 260, + .self_test_ms = 30, +}; + +static const struct adis16475_chip_info adis16475_chip_info[] = { + [ADIS16470] = { + .name = "adis16470", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16470, &adis16475_timeouts), + }, + [ADIS16475_1] = { + .name = "adis16475-1", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), + }, + [ADIS16475_2] = { + .name = "adis16475-2", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), + }, + [ADIS16475_3] = { + .name = "adis16475-3", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16475, &adis16475_timeouts), + }, + [ADIS16477_1] = { + .name = "adis16477-1", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), + }, + [ADIS16477_2] = { + .name = "adis16477-2", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), + }, + [ADIS16477_3] = { + .name = "adis16477-3", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16477, &adis16475_timeouts), + }, + [ADIS16465_1] = { + .name = "adis16465-1", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), + }, + [ADIS16465_2] = { + .name = "adis16465-2", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), + }, + [ADIS16465_3] = { + .name = "adis16465-3", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(4000 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16465, &adis16475_timeouts), + }, + [ADIS16467_1] = { + .name = "adis16467-1", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), + }, + [ADIS16467_2] = { + .name = "adis16467-2", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), + }, + [ADIS16467_3] = { + .name = "adis16467-3", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), + .accel_max_val = 1, + .accel_max_scale = IIO_M_S_2_TO_G(800 << 16), + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + .num_sync = ARRAY_SIZE(adis16475_sync_mode), + .adis_data = ADIS16475_DATA(16467, &adis16475_timeouts), + }, + [ADIS16500] = { + .name = "adis16500", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), + .accel_max_val = 392, + .accel_max_scale = 32000 << 16, + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + /* pulse sync not supported */ + .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, + .has_burst32 = true, + .adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts), + }, + [ADIS16505_1] = { + .name = "adis16505-1", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), + .accel_max_val = 78, + .accel_max_scale = 32000 << 16, + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + /* pulse sync not supported */ + .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, + .has_burst32 = true, + .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), + }, + [ADIS16505_2] = { + .name = "adis16505-2", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), + .accel_max_val = 78, + .accel_max_scale = 32000 << 16, + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + /* pulse sync not supported */ + .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, + .has_burst32 = true, + .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), + }, + [ADIS16505_3] = { + .name = "adis16505-3", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), + .accel_max_val = 78, + .accel_max_scale = 32000 << 16, + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + /* pulse sync not supported */ + .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, + .has_burst32 = true, + .adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts), + }, + [ADIS16507_1] = { + .name = "adis16507-1", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(160 << 16), + .accel_max_val = 392, + .accel_max_scale = 32000 << 16, + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + /* pulse sync not supported */ + .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, + .has_burst32 = true, + .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), + }, + [ADIS16507_2] = { + .name = "adis16507-2", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16), + .accel_max_val = 392, + .accel_max_scale = 32000 << 16, + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + /* pulse sync not supported */ + .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, + .has_burst32 = true, + .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), + }, + [ADIS16507_3] = { + .name = "adis16507-3", + .num_channels = ARRAY_SIZE(adis16475_channels), + .channels = adis16475_channels, + .gyro_max_val = 1, + .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16), + .accel_max_val = 392, + .accel_max_scale = 32000 << 16, + .temp_scale = 100, + .int_clk = 2000, + .max_dec = 1999, + .sync = adis16475_sync_mode, + /* pulse sync not supported */ + .num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1, + .has_burst32 = true, + .adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts), + }, +}; + +static const struct iio_info adis16475_info = { + .read_raw = &adis16475_read_raw, + .write_raw = &adis16475_write_raw, + .update_scan_mode = adis_update_scan_mode, + .debugfs_reg_access = adis_debugfs_reg_access, +}; + +static struct adis_burst adis16475_burst = { + .en = true, + .reg_cmd = ADIS16475_REG_GLOB_CMD, + /* + * adis_update_scan_mode_burst() sets the burst length in respect with + * the number of channels and allocates 16 bits for each. However, + * adis1647x devices also need space for DIAG_STAT, DATA_CNTR or + * TIME_STAMP (depending on the clock mode but for us these bytes are + * don't care...) and CRC. + */ + .extra_len = 3 * sizeof(u16), + .burst_max_len = ADIS16475_BURST32_MAX_DATA, +}; + +static u16 adis16475_validate_crc(const u8 *buffer, const u16 crc, + const bool burst32) +{ + int i; + u16 __crc = 0; + /* extra 6 elements for low gyro and accel */ + const u16 sz = burst32 ? ADIS16475_BURST32_MAX_DATA : + ADIS16475_BURST_MAX_DATA; + + for (i = 0; i < sz - 2; i++) + __crc += buffer[i]; + + return (__crc != crc); +} + +static void adis16475_burst32_check(struct adis16475 *st) +{ + int ret; + struct adis *adis = &st->adis; + + if (!st->info->has_burst32) + return; + + if (st->lsb_flag && !st->burst32) { + const u16 en = ADIS16500_BURST32(1); + + ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, + ADIS16500_BURST32_MASK, en); + if (ret < 0) + return; + + st->burst32 = true; + /* + * In 32bit mode we need extra 2 bytes for all gyro + * and accel channels. + */ + adis->burst->extra_len += 6 * sizeof(u16); + adis->xfer[1].len += 6 * sizeof(u16); + dev_dbg(&adis->spi->dev, "Enable burst32 mode, xfer:%d", + adis->xfer[1].len); + + } else if (!st->lsb_flag && st->burst32) { + const u16 en = ADIS16500_BURST32(0); + + ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, + ADIS16500_BURST32_MASK, en); + if (ret < 0) + return; + + st->burst32 = false; + /* Remove the extra bits */ + adis->burst->extra_len -= 6 * sizeof(u16); + adis->xfer[1].len -= 6 * sizeof(u16); + dev_dbg(&adis->spi->dev, "Disable burst32 mode, xfer:%d\n", + adis->xfer[1].len); + } +} + +static irqreturn_t adis16475_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct adis16475 *st = iio_priv(indio_dev); + struct adis *adis = &st->adis; + int ret, bit, i = 0; + u16 crc, data[ADIS16475_MAX_SCAN_DATA], *buffer, crc_res; + /* offset until the first element after gyro and accel */ + const u8 offset = st->burst32 ? 13 : 7; + const u32 cached_spi_speed_hz = adis->spi->max_speed_hz; + + adis->spi->max_speed_hz = ADIS16475_BURST_MAX_SPEED; + + ret = spi_sync(adis->spi, &adis->msg); + if (ret) + return ret; + + adis->spi->max_speed_hz = cached_spi_speed_hz; + buffer = (u16 *)adis->buffer; + + crc = get_unaligned_be16(&buffer[offset + 2]); + crc_res = adis16475_validate_crc((u8 *)adis->buffer, crc, st->burst32); + if (crc_res) { + dev_err(&adis->spi->dev, "Invalid crc\n"); + goto check_burst32; + } + + for_each_set_bit(bit, indio_dev->active_scan_mask, + indio_dev->masklength) { + /* + * When burst mode is used, system flags is the first data + * channel in the sequence, but the scan index is 7. + */ + switch (bit) { + case ADIS16475_SCAN_TEMP: + data[i++] = get_unaligned(&buffer[offset]); + break; + case ADIS16475_SCAN_GYRO_X ... ADIS16475_SCAN_ACCEL_Z: + /* + * The first 2 bytes on the received data are the + * DIAG_STAT reg, hence the +1 offset here... + */ + if (st->burst32) { + /* upper 16 */ + data[i++] = get_unaligned(&buffer[bit * 2 + 2]); + /* lower 16 */ + data[i++] = get_unaligned(&buffer[bit * 2 + 1]); + } else { + data[i++] = get_unaligned(&buffer[bit + 1]); + /* + * Don't bother in doing the manual read if the + * device supports burst32. burst32 will be + * enabled in the next call to + * adis16475_burst32_check()... + */ + if (st->lsb_flag && !st->info->has_burst32) { + u16 val = 0; + const u32 reg = ADIS16475_REG_X_GYRO_L + + (bit * 4); + __be16 __val; + + adis_read_reg_16(adis, reg, &val); + __val = cpu_to_be16(val); + /* keep sparse happy */ + data[i++] = (__force u16)__val; + } else { + /* lower not used */ + data[i++] = 0; + } + } + break; + } + } + + buffer = data; + + iio_push_to_buffers_with_timestamp(indio_dev, buffer, pf->timestamp); +check_burst32: + /* + * We only check the burst mode at the end of the current capture since + * it takes a full data ready cycle for the device to update the burst + * array. + */ + adis16475_burst32_check(st); + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static void adis16475_disable_clk(void *data) +{ + clk_disable_unprepare((struct clk *)data); +} + +static int adis16475_config_sync_mode(struct adis16475 *st) +{ + int ret; + struct device *dev = &st->adis.spi->dev; + const struct adis16475_sync *sync; + u32 sync_mode; + + /* default to internal clk */ + st->clk_freq = st->info->int_clk * 1000; + + ret = device_property_read_u32(dev, "adi,sync-mode", &sync_mode); + if (ret) + return 0; + + if (sync_mode >= st->info->num_sync) { + dev_err(dev, "Invalid sync mode: %u for %s\n", sync_mode, + st->info->name); + return -EINVAL; + } + + sync = &st->info->sync[sync_mode]; + + /* All the other modes require external input signal */ + if (sync->sync_mode != ADIS16475_SYNC_OUTPUT) { + struct clk *clk = devm_clk_get(dev, NULL); + + if (IS_ERR(clk)) + return PTR_ERR(clk); + + ret = clk_prepare_enable(clk); + if (ret) + return ret; + + ret = devm_add_action_or_reset(dev, adis16475_disable_clk, clk); + if (ret) + return ret; + + st->clk_freq = clk_get_rate(clk); + if (st->clk_freq < sync->min_rate || + st->clk_freq > sync->max_rate) { + dev_err(dev, + "Clk rate:%u not in a valid range:[%u %u]\n", + st->clk_freq, sync->min_rate, sync->max_rate); + return -EINVAL; + } + + if (sync->sync_mode == ADIS16475_SYNC_SCALED) { + u16 up_scale; + u32 scaled_out_freq = 0; + /* + * If we are in scaled mode, we must have an up_scale. + * In scaled mode the allowable input clock range is + * 1 Hz to 128 Hz, and the allowable output range is + * 1900 to 2100 Hz. Hence, a scale must be given to + * get the allowable output. + */ + device_property_read_u32(dev, "adi,scaled-output-hz", + &scaled_out_freq); + + if (scaled_out_freq < 1900 || scaled_out_freq > 2100) { + dev_err(dev, + "Invalid value:%u for adi,scaled-output-hz", + scaled_out_freq); + return -EINVAL; + } + + up_scale = DIV_ROUND_CLOSEST(scaled_out_freq, + st->clk_freq); + + ret = __adis_write_reg_16(&st->adis, + ADIS16475_REG_UP_SCALE, + up_scale); + if (ret) + return ret; + + st->clk_freq = scaled_out_freq; + } + + st->clk_freq *= 1000; + } + /* + * Keep in mind that the mask for the clk modes in adis1650* + * chips is different (1100 instead of 11100). However, we + * are not configuring BIT(4) in these chips and the default + * value is 0, so we are fine in doing the below operations. + * I'm keeping this for simplicity and avoiding extra variables + * in chip_info. + */ + ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, + ADIS16475_SYNC_MODE_MASK, sync->sync_mode); + if (ret) + return ret; + + usleep_range(250, 260); + + return 0; +} + +static int adis16475_config_irq_pin(struct adis16475 *st) +{ + int ret; + struct irq_data *desc; + u32 irq_type; + u16 val = 0; + u8 polarity; + struct spi_device *spi = st->adis.spi; + + desc = irq_get_irq_data(spi->irq); + if (!desc) { + dev_err(&spi->dev, "Could not find IRQ %d\n", spi->irq); + return -EINVAL; + } + /* + * It is possible to configure the data ready polarity. Furthermore, we + * need to update the adis struct if we want data ready as active low. + */ + irq_type = irqd_get_trigger_type(desc); + if (irq_type == IRQF_TRIGGER_RISING) { + polarity = 1; + } else if (irq_type == IRQF_TRIGGER_FALLING) { + polarity = 0; + st->adis.irq_mask = IRQF_TRIGGER_FALLING; + } else { + dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n", + irq_type); + return -EINVAL; + } + + val = ADIS16475_MSG_CTRL_DR_POL(polarity); + ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL, + ADIS16475_MSG_CTRL_DR_POL_MASK, val); + if (ret) + return ret; + /* + * There is a delay writing to any bits written to the MSC_CTRL + * register. It should not be bigger than 200us, so 250 should be more + * than enough! + */ + usleep_range(250, 260); + + return 0; +} + +static const struct of_device_id adis16475_of_match[] = { + { .compatible = "adi,adis16470", + .data = &adis16475_chip_info[ADIS16470] }, + { .compatible = "adi,adis16475-1", + .data = &adis16475_chip_info[ADIS16475_1] }, + { .compatible = "adi,adis16475-2", + .data = &adis16475_chip_info[ADIS16475_2] }, + { .compatible = "adi,adis16475-3", + .data = &adis16475_chip_info[ADIS16475_3] }, + { .compatible = "adi,adis16477-1", + .data = &adis16475_chip_info[ADIS16477_1] }, + { .compatible = "adi,adis16477-2", + .data = &adis16475_chip_info[ADIS16477_2] }, + { .compatible = "adi,adis16477-3", + .data = &adis16475_chip_info[ADIS16477_3] }, + { .compatible = "adi,adis16465-1", + .data = &adis16475_chip_info[ADIS16465_1] }, + { .compatible = "adi,adis16465-2", + .data = &adis16475_chip_info[ADIS16465_2] }, + { .compatible = "adi,adis16465-3", + .data = &adis16475_chip_info[ADIS16465_3] }, + { .compatible = "adi,adis16467-1", + .data = &adis16475_chip_info[ADIS16467_1] }, + { .compatible = "adi,adis16467-2", + .data = &adis16475_chip_info[ADIS16467_2] }, + { .compatible = "adi,adis16467-3", + .data = &adis16475_chip_info[ADIS16467_3] }, + { .compatible = "adi,adis16500", + .data = &adis16475_chip_info[ADIS16500] }, + { .compatible = "adi,adis16505-1", + .data = &adis16475_chip_info[ADIS16505_1] }, + { .compatible = "adi,adis16505-2", + .data = &adis16475_chip_info[ADIS16505_2] }, + { .compatible = "adi,adis16505-3", + .data = &adis16475_chip_info[ADIS16505_3] }, + { .compatible = "adi,adis16507-1", + .data = &adis16475_chip_info[ADIS16507_1] }, + { .compatible = "adi,adis16507-2", + .data = &adis16475_chip_info[ADIS16507_2] }, + { .compatible = "adi,adis16507-3", + .data = &adis16475_chip_info[ADIS16507_3] }, + { }, +}; +MODULE_DEVICE_TABLE(of, adis16475_of_match); + +static int adis16475_probe(struct spi_device *spi) +{ + struct iio_dev *indio_dev; + struct adis16475 *st; + int ret; + + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); + if (!indio_dev) + return -ENOMEM; + + st = iio_priv(indio_dev); + spi_set_drvdata(spi, indio_dev); + st->adis.burst = &adis16475_burst; + + st->info = of_device_get_match_data(&spi->dev); + if (!st->info) + return -EINVAL; + + ret = adis_init(&st->adis, indio_dev, spi, &st->info->adis_data); + if (ret) + return ret; + + indio_dev->dev.parent = &spi->dev; + indio_dev->name = st->info->name; + indio_dev->channels = st->info->channels; + indio_dev->num_channels = st->info->num_channels; + indio_dev->info = &adis16475_info; + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = __adis_initial_startup(&st->adis); + if (ret) + return ret; + + ret = adis16475_config_irq_pin(st); + if (ret) + return ret; + + ret = adis16475_config_sync_mode(st); + if (ret) + return ret; + + ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev, + adis16475_trigger_handler); + if (ret) + return ret; + + adis16475_enable_irq(&st->adis, false); + + ret = devm_iio_device_register(&spi->dev, indio_dev); + if (ret) + return ret; + + adis16475_debugfs_init(indio_dev); + + return 0; +} + +static struct spi_driver adis16475_driver = { + .driver = { + .name = "adis16475", + .of_match_table = adis16475_of_match, + }, + .probe = adis16475_probe, +}; +module_spi_driver(adis16475_driver); + +MODULE_AUTHOR("Nuno Sa "); +MODULE_DESCRIPTION("Analog Devices ADIS16475 IMU driver"); +MODULE_LICENSE("GPL");