Commit f1afda12 authored by Lars-Peter Clausen's avatar Lars-Peter Clausen Committed by Jonathan Cameron
Browse files

iio: adis16260: Add ADIS16266 support 



The ADIS16266 is mostly register compatible to the ADIS16260. The
difference is a different gyroscope scale factor as well not having the
relative angular displacement channel.

Signed-off-by: default avatarLars-Peter Clausen <lars@metafoo.de>
Signed-off-by: default avatarJonathan Cameron <jic23@kernel.org>
parent 3c386760

drivers/iio/gyro/adis16260.c

+98 −39
Original line number Diff line number Diff line
@@ -101,19 +101,24 @@ 
#define ADIS16260_SCAN_TEMP	3

#define ADIS16260_SCAN_ANGL	4



/* Power down the device */

static int adis16260_stop_device(struct iio_dev *indio_dev)

{

	struct adis *adis = iio_priv(indio_dev);

	int ret;

	u16 val = ADIS16260_SLP_CNT_POWER_OFF;

struct adis16260_chip_info {

	unsigned int gyro_max_val;

	unsigned int gyro_max_scale;

	const struct iio_chan_spec *channels;

	unsigned int num_channels;

};



	ret = adis_write_reg_16(adis, ADIS16260_SLP_CNT, val);

	if (ret)

		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");

struct adis16260 {

	const struct adis16260_chip_info *info;



	return ret;

}

	struct adis adis;

};



enum adis16260_type {

	ADIS16251,

	ADIS16260,

	ADIS16266,

};



static const struct iio_chan_spec adis16260_channels[] = {

	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,
@@ -131,6 +136,55 @@ static const struct iio_chan_spec adis16260_channels[] = { 
	IIO_CHAN_SOFT_TIMESTAMP(5),

};



static const struct iio_chan_spec adis16266_channels[] = {

	ADIS_GYRO_CHAN(X, ADIS16260_GYRO_OUT, ADIS16260_SCAN_GYRO,

		BIT(IIO_CHAN_INFO_CALIBBIAS) |

		BIT(IIO_CHAN_INFO_CALIBSCALE),

		BIT(IIO_CHAN_INFO_SAMP_FREQ), 14),

	ADIS_TEMP_CHAN(ADIS16260_TEMP_OUT, ADIS16260_SCAN_TEMP,

		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),

	ADIS_SUPPLY_CHAN(ADIS16260_SUPPLY_OUT, ADIS16260_SCAN_SUPPLY,

		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),

	ADIS_AUX_ADC_CHAN(ADIS16260_AUX_ADC, ADIS16260_SCAN_AUX_ADC,

		BIT(IIO_CHAN_INFO_SAMP_FREQ), 12),

	IIO_CHAN_SOFT_TIMESTAMP(4),

};



static const struct adis16260_chip_info adis16260_chip_info_table[] = {

	[ADIS16251] = {

		.gyro_max_scale = 80,

		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),

		.channels = adis16260_channels,

		.num_channels = ARRAY_SIZE(adis16260_channels),

	},

	[ADIS16260] = {

		.gyro_max_scale = 320,

		.gyro_max_val = IIO_RAD_TO_DEGREE(4368),

		.channels = adis16260_channels,

		.num_channels = ARRAY_SIZE(adis16260_channels),

	},

	[ADIS16266] = {

		.gyro_max_scale = 14000,

		.gyro_max_val = IIO_RAD_TO_DEGREE(3357),

		.channels = adis16266_channels,

		.num_channels = ARRAY_SIZE(adis16266_channels),

	},

};



/* Power down the device */

static int adis16260_stop_device(struct iio_dev *indio_dev)

{

	struct adis16260 *adis16260 = iio_priv(indio_dev);

	int ret;

	u16 val = ADIS16260_SLP_CNT_POWER_OFF;



	ret = adis_write_reg_16(&adis16260->adis, ADIS16260_SLP_CNT, val);

	if (ret)

		dev_err(&indio_dev->dev, "problem with turning device off: SLP_CNT");



	return ret;

}



static const u8 adis16260_addresses[][2] = {

	[ADIS16260_SCAN_GYRO] = { ADIS16260_GYRO_OFF, ADIS16260_GYRO_SCALE },

};
@@ -140,7 +194,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev, 
			      int *val, int *val2,

			      long mask)

{

	struct adis *adis = iio_priv(indio_dev);

	struct adis16260 *adis16260 = iio_priv(indio_dev);

	const struct adis16260_chip_info *info = adis16260->info;

	struct adis *adis = &adis16260->adis;

	int ret;

	u8 addr;

	s16 val16;
@@ -152,15 +208,9 @@ static int adis16260_read_raw(struct iio_dev *indio_dev, 
	case IIO_CHAN_INFO_SCALE:

		switch (chan->type) {

		case IIO_ANGL_VEL:

			*val = 0;

			if (spi_get_device_id(adis->spi)->driver_data) {

				/* 0.01832 degree / sec */

				*val2 = IIO_DEGREE_TO_RAD(18320);

			} else {

				/* 0.07326 degree / sec */

				*val2 = IIO_DEGREE_TO_RAD(73260);

			}

			return IIO_VAL_INT_PLUS_MICRO;

			*val = info->gyro_max_scale;

			*val2 = info->gyro_max_val;

			return IIO_VAL_FRACTIONAL;

		case IIO_INCLI:

			*val = 0;

			*val2 = IIO_DEGREE_TO_RAD(36630);
@@ -224,7 +274,8 @@ static int adis16260_write_raw(struct iio_dev *indio_dev, 
			       int val2,

			       long mask)

{

	struct adis *adis = iio_priv(indio_dev);

	struct adis16260 *adis16260 = iio_priv(indio_dev);

	struct adis *adis = &adis16260->adis;

	int ret;

	u8 addr;

	u8 t;
@@ -305,35 +356,42 @@ static const struct adis_data adis16260_data = { 


static int adis16260_probe(struct spi_device *spi)

{

	const struct spi_device_id *id;

	struct adis16260 *adis16260;

	struct iio_dev *indio_dev;

	struct adis *adis;

	int ret;



	id = spi_get_device_id(spi);

	if (!id)

		return -ENODEV;



	/* setup the industrialio driver allocated elements */

	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis));

	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*adis16260));

	if (!indio_dev)

		return -ENOMEM;

	adis = iio_priv(indio_dev);

	adis16260 = iio_priv(indio_dev);

	/* this is only used for removal purposes */

	spi_set_drvdata(spi, indio_dev);



	indio_dev->name = spi_get_device_id(spi)->name;

	adis16260->info = &adis16260_chip_info_table[id->driver_data];



	indio_dev->name = id->name;

	indio_dev->dev.parent = &spi->dev;

	indio_dev->info = &adis16260_info;

	indio_dev->channels = adis16260_channels;

	indio_dev->num_channels = ARRAY_SIZE(adis16260_channels);

	indio_dev->channels = adis16260->info->channels;

	indio_dev->num_channels = adis16260->info->num_channels;

	indio_dev->modes = INDIO_DIRECT_MODE;



	ret = adis_init(adis, indio_dev, spi, &adis16260_data);

	ret = adis_init(&adis16260->adis, indio_dev, spi, &adis16260_data);

	if (ret)

		return ret;



	ret = adis_setup_buffer_and_trigger(adis, indio_dev, NULL);

	ret = adis_setup_buffer_and_trigger(&adis16260->adis, indio_dev, NULL);

	if (ret)

		return ret;



	/* Get the device into a sane initial state */

	ret = adis_initial_startup(adis);

	ret = adis_initial_startup(&adis16260->adis);

	if (ret)

		goto error_cleanup_buffer_trigger;

	ret = iio_device_register(indio_dev);
@@ -343,18 +401,18 @@ static int adis16260_probe(struct spi_device *spi) 
	return 0;



error_cleanup_buffer_trigger:

	adis_cleanup_buffer_and_trigger(adis, indio_dev);

	adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);

	return ret;

}



static int adis16260_remove(struct spi_device *spi)

{

	struct iio_dev *indio_dev = spi_get_drvdata(spi);

	struct adis *adis = iio_priv(indio_dev);

	struct adis16260 *adis16260 = iio_priv(indio_dev);



	iio_device_unregister(indio_dev);

	adis16260_stop_device(indio_dev);

	adis_cleanup_buffer_and_trigger(adis, indio_dev);

	adis_cleanup_buffer_and_trigger(&adis16260->adis, indio_dev);



	return 0;

}
@@ -364,11 +422,12 @@ static int adis16260_remove(struct spi_device *spi) 
 * support for the on chip filtering.

 */

static const struct spi_device_id adis16260_id[] = {

	{"adis16260", 0},

	{"adis16265", 0},

	{"adis16250", 0},

	{"adis16255", 0},

	{"adis16251", 1},

	{"adis16260", ADIS16260},

	{"adis16265", ADIS16260},

	{"adis16266", ADIS16266},

	{"adis16250", ADIS16260},

	{"adis16255", ADIS16260},

	{"adis16251", ADIS16251},

	{}

};

MODULE_DEVICE_TABLE(spi, adis16260_id);