path: root/drivers/iio/imu/adis16475.c

// 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/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		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;
	u16 sync_mode;
	/* Alignment needed for the timestamp */
	__be16 data[ADIS16475_MAX_SCAN_DATA] __aligned(8);
};

enum {
	ADIS16475_SCAN_GYRO_X,
	ADIS16475_SCAN_GYRO_Y,
	ADIS16475_SCAN_GYRO_Z,
	ADIS16475_SCAN_ACCEL_X,
	ADIS16475_SCAN_ACCEL_Y