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path: root/drivers/iio/imu/adis16480.c
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Diffstat (limited to 'drivers/iio/imu/adis16480.c')
-rw-r--r--drivers/iio/imu/adis16480.c197
1 files changed, 75 insertions, 122 deletions
diff --git a/drivers/iio/imu/adis16480.c b/drivers/iio/imu/adis16480.c
index dac87f1001fd..cfae0e4476e7 100644
--- a/drivers/iio/imu/adis16480.c
+++ b/drivers/iio/imu/adis16480.c
@@ -138,7 +138,7 @@ struct adis16480_chip_info {
unsigned int max_dec_rate;
const unsigned int *filter_freqs;
bool has_pps_clk_mode;
- const struct adis_timeout *timeouts;
+ const struct adis_data adis_data;
};
enum adis16480_int_pin {
@@ -796,6 +796,58 @@ enum adis16480_variant {
ADIS16497_3,
};
+#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
+#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
+#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
+#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
+#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
+#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
+#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
+#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
+#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
+#define ADIS16480_DIAG_STAT_BARO_FAIL 11
+
+static const char * const adis16480_status_error_msgs[] = {
+ [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
+ [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
+};
+
+static int adis16480_enable_irq(struct adis *adis, bool enable);
+
+#define ADIS16480_DATA(_prod_id, _timeouts) \
+{ \
+ .diag_stat_reg = ADIS16480_REG_DIAG_STS, \
+ .glob_cmd_reg = ADIS16480_REG_GLOB_CMD, \
+ .prod_id_reg = ADIS16480_REG_PROD_ID, \
+ .prod_id = (_prod_id), \
+ .has_paging = true, \
+ .read_delay = 5, \
+ .write_delay = 5, \
+ .self_test_mask = BIT(1), \
+ .self_test_reg = ADIS16480_REG_GLOB_CMD, \
+ .status_error_msgs = adis16480_status_error_msgs, \
+ .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) | \
+ BIT(ADIS16480_DIAG_STAT_BARO_FAIL), \
+ .enable_irq = adis16480_enable_irq, \
+ .timeouts = (_timeouts), \
+}
+
static const struct adis_timeout adis16485_timeouts = {
.reset_ms = 560,
.sw_reset_ms = 120,
@@ -838,7 +890,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
- .timeouts = &adis16485_timeouts,
+ .adis_data = ADIS16480_DATA(16375, &adis16485_timeouts),
},
[ADIS16480] = {
.channels = adis16480_channels,
@@ -851,7 +903,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
- .timeouts = &adis16480_timeouts,
+ .adis_data = ADIS16480_DATA(16480, &adis16480_timeouts),
},
[ADIS16485] = {
.channels = adis16485_channels,
@@ -864,7 +916,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
- .timeouts = &adis16485_timeouts,
+ .adis_data = ADIS16480_DATA(16485, &adis16485_timeouts),
},
[ADIS16488] = {
.channels = adis16480_channels,
@@ -877,7 +929,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.int_clk = 2460000,
.max_dec_rate = 2048,
.filter_freqs = adis16480_def_filter_freqs,
- .timeouts = &adis16485_timeouts,
+ .adis_data = ADIS16480_DATA(16488, &adis16485_timeouts),
},
[ADIS16490] = {
.channels = adis16485_channels,
@@ -891,7 +943,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_timeouts,
+ .adis_data = ADIS16480_DATA(16490, &adis16495_timeouts),
},
[ADIS16495_1] = {
.channels = adis16485_channels,
@@ -905,7 +957,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts),
},
[ADIS16495_2] = {
.channels = adis16485_channels,
@@ -919,7 +971,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts),
},
[ADIS16495_3] = {
.channels = adis16485_channels,
@@ -933,7 +985,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16495, &adis16495_1_timeouts),
},
[ADIS16497_1] = {
.channels = adis16485_channels,
@@ -947,7 +999,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts),
},
[ADIS16497_2] = {
.channels = adis16485_channels,
@@ -961,7 +1013,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts),
},
[ADIS16497_3] = {
.channels = adis16485_channels,
@@ -975,7 +1027,7 @@ static const struct adis16480_chip_info adis16480_chip_info[] = {
.max_dec_rate = 4250,
.filter_freqs = adis16495_def_filter_freqs,
.has_pps_clk_mode = true,
- .timeouts = &adis16495_1_timeouts,
+ .adis_data = ADIS16480_DATA(16497, &adis16495_1_timeouts),
},
};
@@ -1014,87 +1066,6 @@ static int adis16480_enable_irq(struct adis *adis, bool enable)
return __adis_write_reg_16(adis, ADIS16480_REG_FNCTIO_CTRL, val);
}
-static int adis16480_initial_setup(struct iio_dev *indio_dev)
-{
- struct adis16480 *st = iio_priv(indio_dev);
- uint16_t prod_id;
- unsigned int device_id;
- int ret;
-
- adis_reset(&st->adis);
- msleep(70);
-
- ret = adis_write_reg_16(&st->adis, ADIS16480_REG_GLOB_CMD, BIT(1));
- if (ret)
- return ret;
- msleep(30);
-
- ret = adis_check_status(&st->adis);
- if (ret)
- return ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16480_REG_PROD_ID, &prod_id);
- if (ret)
- return ret;
-
- ret = sscanf(indio_dev->name, "adis%u\n", &device_id);
- if (ret != 1)
- return -EINVAL;
-
- if (prod_id != device_id)
- dev_warn(&indio_dev->dev, "Device ID(%u) and product ID(%u) do not match.",
- device_id, prod_id);
-
- return 0;
-}
-
-#define ADIS16480_DIAG_STAT_XGYRO_FAIL 0
-#define ADIS16480_DIAG_STAT_YGYRO_FAIL 1
-#define ADIS16480_DIAG_STAT_ZGYRO_FAIL 2
-#define ADIS16480_DIAG_STAT_XACCL_FAIL 3
-#define ADIS16480_DIAG_STAT_YACCL_FAIL 4
-#define ADIS16480_DIAG_STAT_ZACCL_FAIL 5
-#define ADIS16480_DIAG_STAT_XMAGN_FAIL 8
-#define ADIS16480_DIAG_STAT_YMAGN_FAIL 9
-#define ADIS16480_DIAG_STAT_ZMAGN_FAIL 10
-#define ADIS16480_DIAG_STAT_BARO_FAIL 11
-
-static const char * const adis16480_status_error_msgs[] = {
- [ADIS16480_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
- [ADIS16480_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
- [ADIS16480_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
- [ADIS16480_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
- [ADIS16480_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
- [ADIS16480_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
- [ADIS16480_DIAG_STAT_XMAGN_FAIL] = "X-axis magnetometer self-test failure",
- [ADIS16480_DIAG_STAT_YMAGN_FAIL] = "Y-axis magnetometer self-test failure",
- [ADIS16480_DIAG_STAT_ZMAGN_FAIL] = "Z-axis magnetometer self-test failure",
- [ADIS16480_DIAG_STAT_BARO_FAIL] = "Barometer self-test failure",
-};
-
-static const struct adis_data adis16480_data = {
- .diag_stat_reg = ADIS16480_REG_DIAG_STS,
- .glob_cmd_reg = ADIS16480_REG_GLOB_CMD,
- .has_paging = true,
-
- .read_delay = 5,
- .write_delay = 5,
-
- .status_error_msgs = adis16480_status_error_msgs,
- .status_error_mask = BIT(ADIS16480_DIAG_STAT_XGYRO_FAIL) |
- BIT(ADIS16480_DIAG_STAT_YGYRO_FAIL) |
- BIT(ADIS16480_DIAG_STAT_ZGYRO_FAIL) |
- BIT(ADIS16480_DIAG_STAT_XACCL_FAIL) |
- BIT(ADIS16480_DIAG_STAT_YACCL_FAIL) |
- BIT(ADIS16480_DIAG_STAT_ZACCL_FAIL) |
- BIT(ADIS16480_DIAG_STAT_XMAGN_FAIL) |
- BIT(ADIS16480_DIAG_STAT_YMAGN_FAIL) |
- BIT(ADIS16480_DIAG_STAT_ZMAGN_FAIL) |
- BIT(ADIS16480_DIAG_STAT_BARO_FAIL),
-
- .enable_irq = adis16480_enable_irq,
-};
-
static int adis16480_config_irq_pin(struct device_node *of_node,
struct adis16480 *st)
{
@@ -1245,22 +1216,6 @@ static int adis16480_get_ext_clocks(struct adis16480 *st)
return 0;
}
-static struct adis_data *adis16480_adis_data_alloc(struct adis16480 *st,
- struct device *dev)
-{
- struct adis_data *data;
-
- data = devm_kmalloc(dev, sizeof(struct adis_data), GFP_KERNEL);
- if (!data)
- return ERR_PTR(-ENOMEM);
-
- memcpy(data, &adis16480_data, sizeof(*data));
-
- data->timeouts = st->chip_info->timeouts;
-
- return data;
-}
-
static int adis16480_probe(struct spi_device *spi)
{
const struct spi_device_id *id = spi_get_device_id(spi);
@@ -1285,26 +1240,28 @@ static int adis16480_probe(struct spi_device *spi)
indio_dev->info = &adis16480_info;
indio_dev->modes = INDIO_DIRECT_MODE;
- adis16480_data = adis16480_adis_data_alloc(st, &spi->dev);
- if (IS_ERR(adis16480_data))
- return PTR_ERR(adis16480_data);
+ adis16480_data = &st->chip_info->adis_data;
ret = adis_init(&st->adis, indio_dev, spi, adis16480_data);
if (ret)
return ret;
- ret = adis16480_config_irq_pin(spi->dev.of_node, st);
+ ret = __adis_initial_startup(&st->adis);
if (ret)
return ret;
+ ret = adis16480_config_irq_pin(spi->dev.of_node, st);
+ if (ret)
+ goto error_stop_device;
+
ret = adis16480_get_ext_clocks(st);
if (ret)
- return ret;
+ goto error_stop_device;
if (!IS_ERR_OR_NULL(st->ext_clk)) {
ret = adis16480_ext_clk_config(st, spi->dev.of_node, true);
if (ret)
- return ret;
+ goto error_stop_device;
st->clk_freq = clk_get_rate(st->ext_clk);
st->clk_freq *= 1000; /* micro */
@@ -1316,24 +1273,20 @@ static int adis16480_probe(struct spi_device *spi)
if (ret)
goto error_clk_disable_unprepare;
- ret = adis16480_initial_setup(indio_dev);
- if (ret)
- goto error_cleanup_buffer;
-
ret = iio_device_register(indio_dev);
if (ret)
- goto error_stop_device;
+ goto error_cleanup_buffer;
adis16480_debugfs_init(indio_dev);
return 0;
-error_stop_device:
- adis16480_stop_device(indio_dev);
error_cleanup_buffer:
adis_cleanup_buffer_and_trigger(&st->adis, indio_dev);
error_clk_disable_unprepare:
clk_disable_unprepare(st->ext_clk);
+error_stop_device:
+ adis16480_stop_device(indio_dev);
return ret;
}
generated by cgit (git 2.34.1) at 2024-05-29 01:09:02 +0000