@@ -14,6 +14,7 @@
#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>
@@ -52,6 +53,8 @@
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 ADIS16575_SYNC_4KHZ_MASK BIT(11)
+#define ADIS16575_SYNC_4KHZ(x) FIELD_PREP(ADIS16575_SYNC_4KHZ_MASK, x)
#define ADIS16475_REG_UP_SCALE 0x62
#define ADIS16475_REG_DEC_RATE 0x64
#define ADIS16475_REG_GLOB_CMD 0x68
@@ -65,15 +68,32 @@
#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_BURST32_MAX_DATA_NO_TS32 32
+#define ADIS16575_BURST32_DATA_TS32 34
#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 ADIS16575_BURST_MAX_SPEED 8000000
#define ADIS16475_LSB_DEC_MASK 0
#define ADIS16475_LSB_FIR_MASK 1
#define ADIS16500_BURST_DATA_SEL_0_CHN_MASK GENMASK(5, 0)
#define ADIS16500_BURST_DATA_SEL_1_CHN_MASK GENMASK(12, 7)
+#define ADIS16575_MAX_FIFO_WM 511UL
+#define ADIS16475_REG_FIFO_CTRL 0x5A
+#define ADIS16575_WM_LVL_MASK GENMASK(15, 4)
+#define ADIS16575_WM_LVL(x) FIELD_PREP(ADIS16575_WM_LVL_MASK, x)
+#define ADIS16575_WM_POL_MASK BIT(3)
+#define ADIS16575_WM_POL(x) FIELD_PREP(ADIS16575_WM_POL_MASK, x)
+#define ADIS16575_WM_EN_MASK BIT(2)
+#define ADIS16575_WM_EN(x) FIELD_PREP(ADIS16575_WM_EN_MASK, x)
+#define ADIS16575_OVERFLOW_MASK BIT(1)
+#define ADIS16575_STOP_ENQUEUE FIELD_PREP(ADIS16575_OVERFLOW_MASK, 0)
+#define ADIS16575_OVERWRITE_OLDEST FIELD_PREP(ADIS16575_OVERFLOW_MASK, 1)
+#define ADIS16575_FIFO_EN_MASK BIT(0)
+#define ADIS16575_FIFO_EN(x) FIELD_PREP(ADIS16575_FIFO_EN_MASK, x)
+#define ADIS16575_FIFO_FLUSH_CMD BIT(5)
+#define ADIS16575_REG_FIFO_CNT 0x3C
enum {
ADIS16475_SYNC_DIRECT = 1,
@@ -95,6 +115,8 @@ struct adis16475_chip_info {
const char *name;
#define ADIS16475_HAS_BURST32 BIT(0)
#define ADIS16475_HAS_BURST_DELTA_DATA BIT(1)
+#define ADIS16475_HAS_TIMESTAMP32 BIT(2)
+#define ADIS16475_NEEDS_BURST_REQUEST BIT(3)
const long flags;
u32 num_channels;
u32 gyro_max_val;
@@ -116,6 +138,7 @@ struct adis16475 {
bool burst32;
unsigned long lsb_flag;
u16 sync_mode;
+ u16 fifo_watermark;
/* Alignment needed for the timestamp */
__be16 data[ADIS16475_MAX_SCAN_DATA] __aligned(8);
};
@@ -442,6 +465,124 @@ static int adis16475_set_filter(struct adis16475 *st, const u32 filter)
return 0;
}
+static ssize_t adis16475_get_fifo_enabled(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct adis16475 *st = iio_priv(indio_dev);
+ int ret;
+ u16 val;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIFO_CTRL, &val);
+ if (ret)
+ return ret;
+
+ return sysfs_emit(buf, "%lu\n", FIELD_GET(ADIS16575_FIFO_EN_MASK, val));
+}
+
+static ssize_t adis16475_get_fifo_watermark(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+ struct adis16475 *st = iio_priv(indio_dev);
+ int ret;
+ u16 val;
+
+ ret = adis_read_reg_16(&st->adis, ADIS16475_REG_FIFO_CTRL, &val);
+ if (ret)
+ return ret;
+
+ return sysfs_emit(buf, "%lu\n", FIELD_GET(ADIS16575_WM_LVL_MASK, val) + 1);
+}
+
+static ssize_t hwfifo_watermark_min_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ return sysfs_emit(buf, "1\n");
+}
+
+static ssize_t hwfifo_watermark_max_show(struct device *dev,
+ struct device_attribute *attr,
+ char *buf)
+{
+ return sysfs_emit(buf, "%lu\n", ADIS16575_MAX_FIFO_WM);
+}
+
+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[] = {
+ &iio_dev_attr_hwfifo_watermark_min,
+ &iio_dev_attr_hwfifo_watermark_max,
+ &iio_dev_attr_hwfifo_watermark,
+ &iio_dev_attr_hwfifo_enabled,
+ NULL
+};
+
+static int adis16475_buffer_postenable(struct iio_dev *indio_dev)
+{
+ struct adis16475 *st = iio_priv(indio_dev);
+ struct adis *adis = &st->adis;
+
+ return adis_update_bits(adis, ADIS16475_REG_FIFO_CTRL,
+ ADIS16575_FIFO_EN_MASK, (u16)ADIS16575_FIFO_EN(1));
+}
+
+static int adis16475_buffer_postdisable(struct iio_dev *indio_dev)
+{
+ struct adis16475 *st = iio_priv(indio_dev);
+ struct adis *adis = &st->adis;
+ int ret;
+
+ adis_dev_lock(&st->adis);
+
+ ret = __adis_update_bits(adis, ADIS16475_REG_FIFO_CTRL,
+ ADIS16575_FIFO_EN_MASK, (u16)ADIS16575_FIFO_EN(0));
+ if (ret)
+ goto unlock;
+
+ ret = __adis_write_reg_16(adis, ADIS16475_REG_GLOB_CMD,
+ ADIS16575_FIFO_FLUSH_CMD);
+
+unlock:
+ adis_dev_unlock(&st->adis);
+ return ret;
+}
+
+static const struct iio_buffer_setup_ops adis16475_buffer_ops = {
+ .postenable = adis16475_buffer_postenable,
+ .postdisable = adis16475_buffer_postdisable,
+};
+
+static int adis16475_set_watermark(struct iio_dev *indio_dev, unsigned int val)
+{
+ struct adis16475 *st = iio_priv(indio_dev);
+ int ret;
+ u16 wm_lvl;
+
+ adis_dev_lock(&st->adis);
+
+ val = min_t(unsigned int, val, ADIS16575_MAX_FIFO_WM);
+
+ wm_lvl = ADIS16575_WM_LVL(val - 1);
+ ret = __adis_update_bits(&st->adis, ADIS16475_REG_FIFO_CTRL, ADIS16575_WM_LVL_MASK, wm_lvl);
+ if (ret)
+ goto unlock;
+
+ st->fifo_watermark = val;
+
+unlock:
+ adis_dev_unlock(&st->adis);
+ return ret;
+}
+
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,
@@ -651,6 +792,22 @@ static const struct iio_chan_spec adis16475_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(7)
};
+static const struct iio_chan_spec adis16575_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(),
+ ADIS16475_DELTANG_CHAN(X),
+ ADIS16475_DELTANG_CHAN(Y),
+ ADIS16475_DELTANG_CHAN(Z),
+ ADIS16475_DELTVEL_CHAN(X),
+ ADIS16475_DELTVEL_CHAN(Y),
+ ADIS16475_DELTVEL_CHAN(Z),
+};
+
enum adis16475_variant {
ADIS16470,
ADIS16475_1,
@@ -673,6 +830,12 @@ enum adis16475_variant {
ADIS16507_1,
ADIS16507_2,
ADIS16507_3,
+ ADIS16575_2,
+ ADIS16575_3,
+ ADIS16576_2,
+ ADIS16576_3,
+ ADIS16577_2,
+ ADIS16577_3,
};
enum {
@@ -731,6 +894,12 @@ static const struct adis16475_sync adis16475_sync_mode[] = {
{ ADIS16475_SYNC_PULSE, 1000, 2100 },
};
+static const struct adis16475_sync adis16575_sync_mode[] = {
+ { ADIS16475_SYNC_OUTPUT },
+ { ADIS16475_SYNC_DIRECT, 1900, 4100 },
+ { ADIS16475_SYNC_SCALED, 1, 400 },
+};
+
static const struct adis_timeout adis16475_timeouts = {
.reset_ms = 200,
.sw_reset_ms = 200,
@@ -760,7 +929,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16470, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16475_1] = {
@@ -779,7 +948,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16475, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16475_2] = {
@@ -798,7 +967,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16475, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16475_3] = {
@@ -817,7 +986,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16475, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16477_1] = {
@@ -837,7 +1006,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16477_2] = {
@@ -857,7 +1026,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16477_3] = {
@@ -877,7 +1046,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16477, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16465_1] = {
@@ -896,7 +1065,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16465, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16465_2] = {
@@ -915,7 +1084,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16465, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16465_3] = {
@@ -934,7 +1103,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16465, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16467_1] = {
@@ -953,7 +1122,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16467, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16467_2] = {
@@ -972,7 +1141,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16467, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16467_3] = {
@@ -991,7 +1160,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.sync = adis16475_sync_mode,
.num_sync = ARRAY_SIZE(adis16475_sync_mode),
.adis_data = ADIS16475_DATA(16467, &adis16475_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16500] = {
@@ -1012,7 +1181,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16500, &adis1650x_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16501] = {
@@ -1033,7 +1202,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16501, &adis1650x_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16505_1] = {
@@ -1054,7 +1223,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16505_2] = {
@@ -1075,7 +1244,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16505_3] = {
@@ -1096,7 +1265,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16505, &adis1650x_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16507_1] = {
@@ -1117,7 +1286,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16507_2] = {
@@ -1138,7 +1307,7 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
[ADIS16507_3] = {
@@ -1159,9 +1328,147 @@ static const struct adis16475_chip_info adis16475_chip_info[] = {
.num_sync = ARRAY_SIZE(adis16475_sync_mode) - 1,
.flags = ADIS16475_HAS_BURST32 | ADIS16475_HAS_BURST_DELTA_DATA,
.adis_data = ADIS16475_DATA(16507, &adis1650x_timeouts,
- ADIS16475_BURST32_MAX_DATA,
+ ADIS16475_BURST32_MAX_DATA_NO_TS32,
ADIS16475_BURST_MAX_SPEED, false),
},
+ [ADIS16575_2] = {
+ .name = "adis16575-2",
+ .num_channels = ARRAY_SIZE(adis16575_channels),
+ .channels = adis16575_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 8,
+ .accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
+ .temp_scale = 100,
+ .deltang_max_val = IIO_DEGREE_TO_RAD(450),
+ .deltvel_max_val = 100,
+ .int_clk = 4000,
+ .max_dec = 3999,
+ .sync = adis16575_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16575_sync_mode),
+ .flags = ADIS16475_HAS_BURST32 |
+ ADIS16475_HAS_BURST_DELTA_DATA |
+ ADIS16475_NEEDS_BURST_REQUEST |
+ ADIS16475_HAS_TIMESTAMP32,
+ .adis_data = ADIS16475_DATA(16575, &adis16475_timeouts,
+ ADIS16575_BURST32_DATA_TS32,
+ ADIS16575_BURST_MAX_SPEED, true),
+ },
+ [ADIS16575_3] = {
+ .name = "adis16575-3",
+ .num_channels = ARRAY_SIZE(adis16575_channels),
+ .channels = adis16575_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 8,
+ .accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
+ .temp_scale = 100,
+ .deltang_max_val = IIO_DEGREE_TO_RAD(2000),
+ .deltvel_max_val = 100,
+ .int_clk = 4000,
+ .max_dec = 3999,
+ .sync = adis16575_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16575_sync_mode),
+ .flags = ADIS16475_HAS_BURST32 |
+ ADIS16475_HAS_BURST_DELTA_DATA |
+ ADIS16475_NEEDS_BURST_REQUEST |
+ ADIS16475_HAS_TIMESTAMP32,
+ .adis_data = ADIS16475_DATA(16575, &adis16475_timeouts,
+ ADIS16575_BURST32_DATA_TS32,
+ ADIS16575_BURST_MAX_SPEED, true),
+ },
+ [ADIS16576_2] = {
+ .name = "adis16576-2",
+ .num_channels = ARRAY_SIZE(adis16575_channels),
+ .channels = adis16575_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 40,
+ .accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
+ .temp_scale = 100,
+ .deltang_max_val = IIO_DEGREE_TO_RAD(450),
+ .deltvel_max_val = 125,
+ .int_clk = 4000,
+ .max_dec = 3999,
+ .sync = adis16575_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16575_sync_mode),
+ .flags = ADIS16475_HAS_BURST32 |
+ ADIS16475_HAS_BURST_DELTA_DATA |
+ ADIS16475_NEEDS_BURST_REQUEST |
+ ADIS16475_HAS_TIMESTAMP32,
+ .adis_data = ADIS16475_DATA(16576, &adis16475_timeouts,
+ ADIS16575_BURST32_DATA_TS32,
+ ADIS16575_BURST_MAX_SPEED, true),
+ },
+ [ADIS16576_3] = {
+ .name = "adis16576-3",
+ .num_channels = ARRAY_SIZE(adis16575_channels),
+ .channels = adis16575_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 40,
+ .accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
+ .temp_scale = 100,
+ .deltang_max_val = IIO_DEGREE_TO_RAD(2000),
+ .deltvel_max_val = 125,
+ .int_clk = 4000,
+ .max_dec = 3999,
+ .sync = adis16575_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16575_sync_mode),
+ .flags = ADIS16475_HAS_BURST32 |
+ ADIS16475_HAS_BURST_DELTA_DATA |
+ ADIS16475_NEEDS_BURST_REQUEST |
+ ADIS16475_HAS_TIMESTAMP32,
+ .adis_data = ADIS16475_DATA(16576, &adis16475_timeouts,
+ ADIS16575_BURST32_DATA_TS32,
+ ADIS16575_BURST_MAX_SPEED, true),
+ },
+ [ADIS16577_2] = {
+ .name = "adis16577-2",
+ .num_channels = ARRAY_SIZE(adis16575_channels),
+ .channels = adis16575_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(40 << 16),
+ .accel_max_val = 40,
+ .accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
+ .temp_scale = 100,
+ .deltang_max_val = IIO_DEGREE_TO_RAD(450),
+ .deltvel_max_val = 400,
+ .int_clk = 4000,
+ .max_dec = 3999,
+ .sync = adis16575_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16575_sync_mode),
+ .flags = ADIS16475_HAS_BURST32 |
+ ADIS16475_HAS_BURST_DELTA_DATA |
+ ADIS16475_NEEDS_BURST_REQUEST |
+ ADIS16475_HAS_TIMESTAMP32,
+ .adis_data = ADIS16475_DATA(16577, &adis16475_timeouts,
+ ADIS16575_BURST32_DATA_TS32,
+ ADIS16575_BURST_MAX_SPEED, true),
+ },
+ [ADIS16577_3] = {
+ .name = "adis16577-3",
+ .num_channels = ARRAY_SIZE(adis16575_channels),
+ .channels = adis16575_channels,
+ .gyro_max_val = 1,
+ .gyro_max_scale = IIO_RAD_TO_DEGREE(10 << 16),
+ .accel_max_val = 40,
+ .accel_max_scale = IIO_M_S_2_TO_G(32000 << 16),
+ .temp_scale = 100,
+ .deltang_max_val = IIO_DEGREE_TO_RAD(2000),
+ .deltvel_max_val = 400,
+ .int_clk = 4000,
+ .max_dec = 3999,
+ .sync = adis16575_sync_mode,
+ .num_sync = ARRAY_SIZE(adis16575_sync_mode),
+ .flags = ADIS16475_HAS_BURST32 |
+ ADIS16475_HAS_BURST_DELTA_DATA |
+ ADIS16475_NEEDS_BURST_REQUEST |
+ ADIS16475_HAS_TIMESTAMP32,
+ .adis_data = ADIS16475_DATA(16577, &adis16475_timeouts,
+ ADIS16575_BURST32_DATA_TS32,
+ ADIS16575_BURST_MAX_SPEED, true),
+ },
};
static int adis16475_update_scan_mode(struct iio_dev *indio_dev,
@@ -1196,15 +1503,19 @@ static const struct iio_info adis16475_info = {
.debugfs_reg_access = adis_debugfs_reg_access,
};
+static const struct iio_info adis16575_info = {
+ .read_raw = &adis16475_read_raw,
+ .write_raw = &adis16475_write_raw,
+ .update_scan_mode = adis16475_update_scan_mode,
+ .debugfs_reg_access = adis_debugfs_reg_access,
+ .hwfifo_set_watermark = adis16475_set_watermark,
+};
+
static bool adis16475_validate_crc(const u8 *buffer, u16 crc,
- const bool burst32)
+ u16 burst_size, u16 start_idx)
{
int i;
- /* 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++)
+ for (i = start_idx; i < burst_size - 2; i++)
crc -= buffer[i];
return crc == 0;
@@ -1214,10 +1525,14 @@ static void adis16475_burst32_check(struct adis16475 *st)
{
int ret;
struct adis *adis = &st->adis;
+ u8 timestamp32 = 0;
if (!(st->info->flags & ADIS16475_HAS_BURST32))
return;
+ if (st->info->flags & ADIS16475_HAS_TIMESTAMP32)
+ timestamp32 = 1;
+
if (st->lsb_flag && !st->burst32) {
const u16 en = ADIS16500_BURST32(1);
@@ -1231,9 +1546,12 @@ static void adis16475_burst32_check(struct adis16475 *st)
/*
* In 32-bit mode we need extra 2 bytes for all gyro
* and accel channels.
+ * If the device has 32-bit timestamp value we need 2 extra
+ * bytes for it.
*/
- adis->burst_extra_len = 6 * sizeof(u16);
- adis->xfer[1].len += 6 * sizeof(u16);
+ adis->burst_extra_len = (6 + timestamp32) * sizeof(u16);
+ adis->xfer[1].len += (6 + timestamp32) * sizeof(u16);
+
dev_dbg(&adis->spi->dev, "Enable burst32 mode, xfer:%d",
adis->xfer[1].len);
@@ -1249,7 +1567,7 @@ static void adis16475_burst32_check(struct adis16475 *st)
/* Remove the extra bits */
adis->burst_extra_len = 0;
- adis->xfer[1].len -= 6 * sizeof(u16);
+ adis->xfer[1].len -= (6 + timestamp32) * sizeof(u16);
dev_dbg(&adis->spi->dev, "Disable burst32 mode, xfer:%d\n",
adis->xfer[1].len);
}
@@ -1264,20 +1582,30 @@ static int adis16475_push_single_sample(struct iio_poll_func *pf)
__be16 *buffer;
u16 crc;
bool valid;
+ u8 crc_offset = 9;
+ u16 burst_size = ADIS16475_BURST_MAX_DATA;
+ u16 start_idx = (st->info->flags & ADIS16475_HAS_TIMESTAMP32) ? 2 : 0;
+
/* offset until the first element after gyro and accel */
const u8 offset = st->burst32 ? 13 : 7;
+ if (st->burst32) {
+ crc_offset = (st->info->flags & ADIS16475_HAS_TIMESTAMP32) ? 16 : 15;
+ burst_size = (st->info->flags & ADIS16475_HAS_TIMESTAMP32) ?
+ ADIS16575_BURST32_DATA_TS32 : ADIS16475_BURST32_MAX_DATA_NO_TS32;
+ }
+
ret = spi_sync(adis->spi, &adis->msg);
if (ret)
- goto check_burst32;
+ return ret;
buffer = adis->buffer;
- crc = be16_to_cpu(buffer[offset + 2]);
- valid = adis16475_validate_crc(adis->buffer, crc, st->burst32);
+ crc = be16_to_cpu(buffer[crc_offset]);
+ valid = adis16475_validate_crc(adis->buffer, crc, burst_size, start_idx);
if (!valid) {
dev_err(&adis->spi->dev, "Invalid crc\n");
- goto check_burst32;
+ return ret;
}
for_each_set_bit(bit, indio_dev->active_scan_mask,
@@ -1337,23 +1665,127 @@ static int adis16475_push_single_sample(struct iio_poll_func *pf)
}
}
- iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);
-check_burst32:
+ if (adis->data->has_fifo)
+ iio_push_to_buffers(indio_dev, st->data);
+ else
+ iio_push_to_buffers_with_timestamp(indio_dev, st->data, pf->timestamp);
+
+ return 0;
+}
+
+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);
+
+ adis16475_push_single_sample(pf);
/*
* 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);
- return ret;
+
+ iio_trigger_notify_done(indio_dev->trig);
+
+ return IRQ_HANDLED;
}
-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)
+{
+ unsigned int burst_max_length;
+ u8 *tx;
+
+ if (adis->data->burst_max_len)
+ burst_max_length = adis->data->burst_max_len;
+ else
+ burst_max_length = adis->data->burst_len + adis->burst_extra_len;
+
+ tx = adis->buffer + burst_max_length;
+ tx[0] = ADIS_READ_REG(burst_req);
+}
+
+static int adis16575_custom_burst_read(struct iio_poll_func *pf, u8 burst_req)
+{
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct adis16475 *st = iio_priv(indio_dev);
+ struct adis *adis = &st->adis;
+
+ adis16575_update_msg_for_burst(adis, burst_req);
+
+ if (burst_req)
+ return spi_sync(adis->spi, &adis->msg);
+
+ return adis16475_push_single_sample(pf);
+}
+
+/*
+ * 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)
{
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;
+ u16 fifo_cnt, i;
- adis16475_push_single_sample(pf);
+ adis_dev_lock(&st->adis);
+
+ ret = __adis_read_reg_16(adis, ADIS16575_REG_FIFO_CNT, &fifo_cnt);
+ if (ret)
+ goto unlock;
+
+ /*
+ * If no sample is available, nothing can be read. This can happen if
+ * a the used trigger has a higher frequency than the selected sample rate.
+ */
+ if (!fifo_cnt)
+ goto unlock;
+
+ /*
+ * First burst request - FIFO pop: popped data will be returned in the
+ * next burst request.
+ */
+ ret = adis16575_custom_burst_read(pf, adis->data->burst_reg_cmd);
+ if (ret)
+ goto unlock;
+
+ for (i = 0; i < fifo_cnt - 1; i++) {
+ ret = adis16475_push_single_sample(pf);
+ if (ret)
+ goto unlock;
+ }
+
+ /* FIFO read without popping */
+ ret = adis16575_custom_burst_read(pf, 0);
+ if (ret)
+ goto unlock;
+
+unlock:
+ /*
+ * We only check the burst mode at the end of the current capture since
+ * reading data from registers will impact the FIFO reading.
+ */
+ adis16475_burst32_check(st);
+ adis_dev_unlock(&st->adis);
iio_trigger_notify_done(indio_dev->trig);
return IRQ_HANDLED;
@@ -1367,6 +1799,14 @@ static int adis16475_config_sync_mode(struct adis16475 *st)
u32 sync_mode;
u16 max_sample_rate = st->info->int_clk + 100;
+ /* if available, enable 4khz internal clock */
+ if (st->info->int_clk == 4000) {
+ ret = __adis_update_bits(&st->adis, ADIS16475_REG_MSG_CTRL,
+ ADIS16575_SYNC_4KHZ_MASK, (u16)ADIS16575_SYNC_4KHZ(1));
+ if (ret)
+ return ret;
+ }
+
/* default to internal clk */
st->clk_freq = st->info->int_clk * 1000;
@@ -1444,34 +1884,67 @@ static int adis16475_config_irq_pin(struct adis16475 *st)
u8 polarity;
struct spi_device *spi = st->adis.spi;
- /*
- * 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 = irq_get_trigger_type(spi->irq);
- if (irq_type == IRQ_TYPE_EDGE_RISING) {
- polarity = 1;
- st->adis.irq_flag = IRQF_TRIGGER_RISING;
- } else if (irq_type == IRQ_TYPE_EDGE_FALLING) {
- polarity = 0;
- st->adis.irq_flag = IRQF_TRIGGER_FALLING;
+
+ if (st->adis.data->has_fifo) {
+ /*
+ * It is possible to configure the fifo watermark pin polarity.
+ * Furthermore, we need to update the adis struct if we want the
+ * watermark pin active low.
+ */
+ if (irq_type == IRQ_TYPE_LEVEL_HIGH) {
+ polarity = 1;
+ st->adis.irq_flag = IRQF_TRIGGER_HIGH;
+ } else if (irq_type == IRQ_TYPE_LEVEL_LOW) {
+ polarity = 0;
+ st->adis.irq_flag = IRQF_TRIGGER_LOW;
+ } else {
+ dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n",
+ irq_type);
+ return -EINVAL;
+ }
+
+ /* Configure the watermark pin polarity. */
+ ret = adis_update_bits(&st->adis, ADIS16475_REG_FIFO_CTRL,
+ ADIS16575_WM_POL_MASK, (u16)ADIS16575_WM_POL(polarity));
+ if (ret)
+ return ret;
+
+ /* Enable watermark interrupt pin. */
+ ret = adis_update_bits(&st->adis, ADIS16475_REG_FIFO_CTRL,
+ ADIS16575_WM_EN_MASK, (u16)ADIS16575_WM_EN(1));
+ if (ret)
+ return ret;
+
} else {
- dev_err(&spi->dev, "Invalid interrupt type 0x%x specified\n",
- irq_type);
- 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.
+ */
+ if (irq_type == IRQ_TYPE_EDGE_RISING) {
+ polarity = 1;
+ st->adis.irq_flag = IRQF_TRIGGER_RISING;
+ } else if (irq_type == IRQ_TYPE_EDGE_FALLING) {
+ polarity = 0;
+ st->adis.irq_flag = 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);
+ 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;
}
@@ -1500,7 +1973,10 @@ static int adis16475_probe(struct spi_device *spi)
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;
+ if (st->adis.data->has_fifo)
+ indio_dev->info = &adis16575_info;
+ else
+ indio_dev->info = &adis16475_info;
indio_dev->modes = INDIO_DIRECT_MODE;
ret = __adis_initial_startup(&st->adis);
@@ -1515,10 +1991,25 @@ static int adis16475_probe(struct spi_device *spi)
if (ret)
return ret;
- ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,
- adis16475_trigger_handler);
- if (ret)
- return ret;
+ if (st->adis.data->has_fifo) {
+ ret = devm_adis_setup_buffer_and_trigger_with_attrs(&st->adis, indio_dev,
+ adis16475_trigger_handler_with_fifo,
+ &adis16475_buffer_ops,
+ adis16475_fifo_attributes);
+ if (ret)
+ return ret;
+
+ /* Update overflow behavior to always overwrite the oldest sample. */
+ ret = adis_update_bits(&st->adis, ADIS16475_REG_FIFO_CTRL,
+ ADIS16575_OVERFLOW_MASK, (u16)ADIS16575_OVERWRITE_OLDEST);
+ if (ret)
+ return ret;
+ } else {
+ ret = devm_adis_setup_buffer_and_trigger(&st->adis, indio_dev,
+ adis16475_trigger_handler);
+ if (ret)
+ return ret;
+ }
ret = devm_iio_device_register(&spi->dev, indio_dev);
if (ret)
@@ -1572,6 +2063,18 @@ static const struct of_device_id adis16475_of_match[] = {
.data = &adis16475_chip_info[ADIS16507_2] },
{ .compatible = "adi,adis16507-3",
.data = &adis16475_chip_info[ADIS16507_3] },
+ { .compatible = "adi,adis16575-2",
+ .data = &adis16475_chip_info[ADIS16575_2] },
+ { .compatible = "adi,adis16575-3",
+ .data = &adis16475_chip_info[ADIS16575_3] },
+ { .compatible = "adi,adis16576-2",
+ .data = &adis16475_chip_info[ADIS16576_2] },
+ { .compatible = "adi,adis16576-3",
+ .data = &adis16475_chip_info[ADIS16576_3] },
+ { .compatible = "adi,adis16577-2",
+ .data = &adis16475_chip_info[ADIS16577_2] },
+ { .compatible = "adi,adis16577-3",
+ .data = &adis16475_chip_info[ADIS16577_3] },
{ },
};
MODULE_DEVICE_TABLE(of, adis16475_of_match);
@@ -1598,6 +2101,12 @@ static const struct spi_device_id adis16475_ids[] = {
{ "adis16507-1", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_1] },
{ "adis16507-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_2] },
{ "adis16507-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16507_3] },
+ { "adis16575-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16575_2] },
+ { "adis16575-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16575_3] },
+ { "adis16576-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16576_2] },
+ { "adis16576-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16576_3] },
+ { "adis16577-2", (kernel_ulong_t)&adis16475_chip_info[ADIS16577_2] },
+ { "adis16577-3", (kernel_ulong_t)&adis16475_chip_info[ADIS16577_3] },
{ }
};
MODULE_DEVICE_TABLE(spi, adis16475_ids);
Add support for ADIS1657X family devices in already exiting ADIS16475 driver. Signed-off-by: Ramona Gradinariu <ramona.bolboaca13@gmail.com> --- changes in v4: - removed AIDS16575_HAS_FIFO flag and instead used has_fifo flag from adis_data - removed timestamp channel for devices which support FIFO readings (adis1657x) - dropped the dev_attr.attr. from adis16475_fifo_attributes - reworked if (ret) as advised drivers/iio/imu/adis16475.c | 649 ++++++++++++++++++++++++++++++++---- 1 file changed, 579 insertions(+), 70 deletions(-) -- 2.34.1