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-rw-r--r--drivers/iio/imu/adis.c68
-rw-r--r--drivers/iio/imu/adis16400.c140
-rw-r--r--drivers/iio/imu/adis16460.c40
-rw-r--r--drivers/iio/imu/adis16480.c197
-rw-r--r--drivers/iio/imu/adis_buffer.c3
-rw-r--r--drivers/iio/imu/inv_mpu6050/Kconfig12
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_core.c651
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_i2c.c111
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_iio.h58
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_magn.c49
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_magn.h5
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_ring.c57
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_spi.c74
-rw-r--r--drivers/iio/imu/inv_mpu6050/inv_mpu_trigger.c160
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx.h4
-rw-r--r--drivers/iio/imu/st_lsm6dsx/st_lsm6dsx_shub.c5
16 files changed, 953 insertions, 681 deletions
diff --git a/drivers/iio/imu/adis.c b/drivers/iio/imu/adis.c
index 022bb54fb748..a8afd01de4f3 100644
--- a/drivers/iio/imu/adis.c
+++ b/drivers/iio/imu/adis.c
@@ -7,6 +7,7 @@
*/
#include <linux/delay.h>
+#include <linux/gpio/consumer.h>
#include <linux/mutex.h>
#include <linux/device.h>
#include <linux/kernel.h>
@@ -346,8 +347,8 @@ static int adis_self_test(struct adis *adis)
int ret;
const struct adis_timeout *timeouts = adis->data->timeouts;
- ret = __adis_write_reg_16(adis, adis->data->msc_ctrl_reg,
- adis->data->self_test_mask);
+ ret = __adis_write_reg_16(adis, adis->data->self_test_reg,
+ adis->data->self_test_mask);
if (ret) {
dev_err(&adis->spi->dev, "Failed to initiate self test: %d\n",
ret);
@@ -359,42 +360,71 @@ static int adis_self_test(struct adis *adis)
ret = __adis_check_status(adis);
if (adis->data->self_test_no_autoclear)
- __adis_write_reg_16(adis, adis->data->msc_ctrl_reg, 0x00);
+ __adis_write_reg_16(adis, adis->data->self_test_reg, 0x00);
return ret;
}
/**
- * adis_inital_startup() - Performs device self-test
+ * __adis_initial_startup() - Device initial setup
* @adis: The adis device
*
+ * The function performs a HW reset via a reset pin that should be specified
+ * via GPIOLIB. If no pin is configured a SW reset will be performed.
+ * The RST pin for the ADIS devices should be configured as ACTIVE_LOW.
+ *
+ * After the self-test operation is performed, the function will also check
+ * that the product ID is as expected. This assumes that drivers providing
+ * 'prod_id_reg' will also provide the 'prod_id'.
+ *
* Returns 0 if the device is operational, a negative error code otherwise.
*
* This function should be called early on in the device initialization sequence
* to ensure that the device is in a sane and known state and that it is usable.
*/
-int adis_initial_startup(struct adis *adis)
+int __adis_initial_startup(struct adis *adis)
{
+ const struct adis_timeout *timeouts = adis->data->timeouts;
+ struct gpio_desc *gpio;
+ uint16_t prod_id;
int ret;
- mutex_lock(&adis->state_lock);
+ /* check if the device has rst pin low */
+ gpio = devm_gpiod_get_optional(&adis->spi->dev, "reset", GPIOD_ASIS);
+ if (IS_ERR(gpio))
+ return PTR_ERR(gpio);
+
+ if (gpio) {
+ gpiod_set_value_cansleep(gpio, 1);
+ msleep(10);
+ /* bring device out of reset */
+ gpiod_set_value_cansleep(gpio, 0);
+ msleep(timeouts->reset_ms);
+ } else {
+ ret = __adis_reset(adis);
+ if (ret)
+ return ret;
+ }
ret = adis_self_test(adis);
- if (ret) {
- dev_err(&adis->spi->dev, "Self-test failed, trying reset.\n");
- __adis_reset(adis);
- ret = adis_self_test(adis);
- if (ret) {
- dev_err(&adis->spi->dev, "Second self-test failed, giving up.\n");
- goto out_unlock;
- }
- }
+ if (ret)
+ return ret;
-out_unlock:
- mutex_unlock(&adis->state_lock);
- return ret;
+ if (!adis->data->prod_id_reg)
+ return 0;
+
+ ret = adis_read_reg_16(adis, adis->data->prod_id_reg, &prod_id);
+ if (ret)
+ return ret;
+
+ if (prod_id != adis->data->prod_id)
+ dev_warn(&adis->spi->dev,
+ "Device ID(%u) and product ID(%u) do not match.",
+ adis->data->prod_id, prod_id);
+
+ return 0;
}
-EXPORT_SYMBOL_GPL(adis_initial_startup);
+EXPORT_SYMBOL_GPL(__adis_initial_startup);
/**
* adis_single_conversion() - Performs a single sample conversion
diff --git a/drivers/iio/imu/adis16400.c b/drivers/iio/imu/adis16400.c
index cfb1c19eb930..05e70c1c4835 100644
--- a/drivers/iio/imu/adis16400.c
+++ b/drivers/iio/imu/adis16400.c
@@ -156,7 +156,7 @@ struct adis16400_state;
struct adis16400_chip_info {
const struct iio_chan_spec *channels;
- const struct adis_timeout *timeouts;
+ const struct adis_data adis_data;
const int num_channels;
const long flags;
unsigned int gyro_scale_micro;
@@ -930,12 +930,64 @@ static const struct iio_chan_spec adis16334_channels[] = {
IIO_CHAN_SOFT_TIMESTAMP(ADIS16400_SCAN_TIMESTAMP),
};
+static const char * const adis16400_status_error_msgs[] = {
+ [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
+ [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
+ [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
+ [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
+ [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
+ [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
+ [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
+ [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
+ [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
+ [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
+ [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
+};
+
+#define ADIS16400_DATA(_timeouts) \
+{ \
+ .msc_ctrl_reg = ADIS16400_MSC_CTRL, \
+ .glob_cmd_reg = ADIS16400_GLOB_CMD, \
+ .diag_stat_reg = ADIS16400_DIAG_STAT, \
+ .read_delay = 50, \
+ .write_delay = 50, \
+ .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST, \
+ .self_test_reg = ADIS16400_MSC_CTRL, \
+ .status_error_msgs = adis16400_status_error_msgs, \
+ .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_ALARM2) | \
+ BIT(ADIS16400_DIAG_STAT_ALARM1) | \
+ BIT(ADIS16400_DIAG_STAT_FLASH_CHK) | \
+ BIT(ADIS16400_DIAG_STAT_SELF_TEST) | \
+ BIT(ADIS16400_DIAG_STAT_OVERFLOW) | \
+ BIT(ADIS16400_DIAG_STAT_SPI_FAIL) | \
+ BIT(ADIS16400_DIAG_STAT_FLASH_UPT) | \
+ BIT(ADIS16400_DIAG_STAT_POWER_HIGH) | \
+ BIT(ADIS16400_DIAG_STAT_POWER_LOW), \
+ .timeouts = (_timeouts), \
+}
+
static const struct adis_timeout adis16300_timeouts = {
.reset_ms = ADIS16400_STARTUP_DELAY,
.sw_reset_ms = ADIS16400_STARTUP_DELAY,
.self_test_ms = ADIS16400_STARTUP_DELAY,
};
+static const struct adis_timeout adis16334_timeouts = {
+ .reset_ms = 60,
+ .sw_reset_ms = 60,
+ .self_test_ms = 14,
+};
+
static const struct adis_timeout adis16362_timeouts = {
.reset_ms = 130,
.sw_reset_ms = 130,
@@ -972,7 +1024,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16300_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts),
},
[ADIS16334] = {
.channels = adis16334_channels,
@@ -985,6 +1037,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 67850, /* 25 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
+ .adis_data = ADIS16400_DATA(&adis16334_timeouts),
},
[ADIS16350] = {
.channels = adis16350_channels,
@@ -996,7 +1049,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.flags = ADIS16400_NO_BURST | ADIS16400_HAS_SLOW_MODE,
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16300_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts),
},
[ADIS16360] = {
.channels = adis16350_channels,
@@ -1009,7 +1062,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16300_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts),
},
[ADIS16362] = {
.channels = adis16350_channels,
@@ -1022,7 +1075,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16362_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16362_timeouts),
},
[ADIS16364] = {
.channels = adis16350_channels,
@@ -1035,7 +1088,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16362_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16362_timeouts),
},
[ADIS16367] = {
.channels = adis16350_channels,
@@ -1048,7 +1101,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 136000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16300_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16300_timeouts),
},
[ADIS16400] = {
.channels = adis16400_channels,
@@ -1060,7 +1113,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 25000000 / 140000, /* 25 C = 0x00 */
.set_freq = adis16400_set_freq,
.get_freq = adis16400_get_freq,
- .timeouts = &adis16400_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16400_timeouts),
},
[ADIS16445] = {
.channels = adis16445_channels,
@@ -1074,7 +1127,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
- .timeouts = &adis16445_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16445_timeouts),
},
[ADIS16448] = {
.channels = adis16448_channels,
@@ -1088,7 +1141,7 @@ static struct adis16400_chip_info adis16400_chips[] = {
.temp_offset = 31000000 / 73860, /* 31 C = 0x00 */
.set_freq = adis16334_set_freq,
.get_freq = adis16334_get_freq,
- .timeouts = &adis16448_timeouts,
+ .adis_data = ADIS16400_DATA(&adis16448_timeouts),
}
};
@@ -1099,52 +1152,6 @@ static const struct iio_info adis16400_info = {
.debugfs_reg_access = adis_debugfs_reg_access,
};
-static const char * const adis16400_status_error_msgs[] = {
- [ADIS16400_DIAG_STAT_ZACCL_FAIL] = "Z-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_YACCL_FAIL] = "Y-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_XACCL_FAIL] = "X-axis accelerometer self-test failure",
- [ADIS16400_DIAG_STAT_XGYRO_FAIL] = "X-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_YGYRO_FAIL] = "Y-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_ZGYRO_FAIL] = "Z-axis gyroscope self-test failure",
- [ADIS16400_DIAG_STAT_ALARM2] = "Alarm 2 active",
- [ADIS16400_DIAG_STAT_ALARM1] = "Alarm 1 active",
- [ADIS16400_DIAG_STAT_FLASH_CHK] = "Flash checksum error",
- [ADIS16400_DIAG_STAT_SELF_TEST] = "Self test error",
- [ADIS16400_DIAG_STAT_OVERFLOW] = "Sensor overrange",
- [ADIS16400_DIAG_STAT_SPI_FAIL] = "SPI failure",
- [ADIS16400_DIAG_STAT_FLASH_UPT] = "Flash update failed",
- [ADIS16400_DIAG_STAT_POWER_HIGH] = "Power supply above 5.25V",
- [ADIS16400_DIAG_STAT_POWER_LOW] = "Power supply below 4.75V",
-};
-
-static const struct adis_data adis16400_data = {
- .msc_ctrl_reg = ADIS16400_MSC_CTRL,
- .glob_cmd_reg = ADIS16400_GLOB_CMD,
- .diag_stat_reg = ADIS16400_DIAG_STAT,
-
- .read_delay = 50,
- .write_delay = 50,
-
- .self_test_mask = ADIS16400_MSC_CTRL_MEM_TEST,
-
- .status_error_msgs = adis16400_status_error_msgs,
- .status_error_mask = BIT(ADIS16400_DIAG_STAT_ZACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_YACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_XACCL_FAIL) |
- BIT(ADIS16400_DIAG_STAT_XGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_YGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_ZGYRO_FAIL) |
- BIT(ADIS16400_DIAG_STAT_ALARM2) |
- BIT(ADIS16400_DIAG_STAT_ALARM1) |
- BIT(ADIS16400_DIAG_STAT_FLASH_CHK) |
- BIT(ADIS16400_DIAG_STAT_SELF_TEST) |
- BIT(ADIS16400_DIAG_STAT_OVERFLOW) |
- BIT(ADIS16400_DIAG_STAT_SPI_FAIL) |
- BIT(ADIS16400_DIAG_STAT_FLASH_UPT) |
- BIT(ADIS16400_DIAG_STAT_POWER_HIGH) |
- BIT(ADIS16400_DIAG_STAT_POWER_LOW),
-};
-
static void adis16400_setup_chan_mask(struct adis16400_state *st)
{
const struct adis16400_chip_info *chip_info = st->variant;
@@ -1158,23 +1165,6 @@ static void adis16400_setup_chan_mask(struct adis16400_state *st)
st->avail_scan_mask[0] |= BIT(ch->scan_index);
}
}
-
-static struct adis_data *adis16400_adis_data_alloc(struct adis16400_state *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, &adis16400_data, sizeof(*data));
-
- data->timeouts = st->variant->timeouts;
-
- return data;
-}
-
static int adis16400_probe(struct spi_device *spi)
{
struct adis16400_state *st;
@@ -1207,9 +1197,7 @@ static int adis16400_probe(struct spi_device *spi)
st->adis.burst->extra_len = sizeof(u16);
}
- adis16400_data = adis16400_adis_data_alloc(st, &spi->dev);
- if (IS_ERR(adis16400_data))
- return PTR_ERR(adis16400_data);
+ adis16400_data = &st->variant->adis_data;
ret = adis_init(&st->adis, indio_dev, spi, adis16400_data);
if (ret)
diff --git a/drivers/iio/imu/adis16460.c b/drivers/iio/imu/adis16460.c
index 9539cfe4a259..0027683d0256 100644
--- a/drivers/iio/imu/adis16460.c
+++ b/drivers/iio/imu/adis16460.c
@@ -333,40 +333,6 @@ static int adis16460_enable_irq(struct adis *adis, bool enable)
return 0;
}
-static int adis16460_initial_setup(struct iio_dev *indio_dev)
-{
- struct adis16460 *st = iio_priv(indio_dev);
- uint16_t prod_id;
- unsigned int device_id;
- int ret;
-
- adis_reset(&st->adis);
- msleep(222);
-
- ret = adis_write_reg_16(&st->adis, ADIS16460_REG_GLOB_CMD, BIT(1));
- if (ret)
- return ret;
- msleep(75);
-
- ret = adis_check_status(&st->adis);
- if (ret)
- return ret;
-
- ret = adis_read_reg_16(&st->adis, ADIS16460_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 ADIS16460_DIAG_STAT_IN_CLK_OOS 7
#define ADIS16460_DIAG_STAT_FLASH_MEM 6
#define ADIS16460_DIAG_STAT_SELF_TEST 5
@@ -392,6 +358,10 @@ static const struct adis_timeout adis16460_timeouts = {
static const struct adis_data adis16460_data = {
.diag_stat_reg = ADIS16460_REG_DIAG_STAT,
.glob_cmd_reg = ADIS16460_REG_GLOB_CMD,
+ .prod_id_reg = ADIS16460_REG_PROD_ID,
+ .prod_id = 16460,
+ .self_test_mask = BIT(2),
+ .self_test_reg = ADIS16460_REG_GLOB_CMD,
.has_paging = false,
.read_delay = 5,
.write_delay = 5,
@@ -439,7 +409,7 @@ static int adis16460_probe(struct spi_device *spi)
adis16460_enable_irq(&st->adis, 0);
- ret = adis16460_initial_setup(indio_dev);
+ ret = __adis_initial_startup(&st->adis);
if (ret)
goto error_cleanup_buffer;
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;
}
diff --git a/drivers/iio/imu/adis_buffer.c b/drivers/iio/imu/adis_buffer.c
index 3f4dd5c00b03..04e5e2a0fd6b 100644
--- a/drivers/iio/imu/adis_buffer.c
+++ b/drivers/iio/imu/adis_buffer.c
@@ -97,7 +97,8 @@ int adis_update_scan_mode(struct iio_dev *indio_dev,
if (j != scan_count)
adis->xfer[j].cs_change = 1;
adis->xfer[j].len = 2;
- adis->xfer[j].delay_usecs = adis->data->read_delay;
+ adis->xfer[j].delay.value = adis->data->read_delay;
+ adis->xfer[j].delay.unit = SPI_DELAY_UNIT_USECS;
if (j < scan_count)
adis->xfer[j].tx_buf = &tx[j];
if (j >= 1)
diff --git a/drivers/iio/imu/inv_mpu6050/Kconfig b/drivers/iio/imu/inv_mpu6050/Kconfig
index 017bc0fcc365..7137ea6f25db 100644
--- a/drivers/iio/imu/inv_mpu6050/Kconfig
+++ b/drivers/iio/imu/inv_mpu6050/Kconfig
@@ -15,9 +15,9 @@ config INV_MPU6050_I2C
select INV_MPU6050_IIO
select REGMAP_I2C
help
- This driver supports the Invensense MPU6050/6500/6515,
- MPU9150/9250/9255 and ICM20608/20602 motion tracking devices
- over I2C.
+ This driver supports the Invensense MPU6050/9150,
+ MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 and
+ IAM20680 motion tracking devices over I2C.
This driver can be built as a module. The module will be called
inv-mpu6050-i2c.
@@ -27,8 +27,8 @@ config INV_MPU6050_SPI
select INV_MPU6050_IIO
select REGMAP_SPI
help
- This driver supports the Invensense MPU6000/6500/6515,
- MPU9250/9255 and ICM20608/20602 motion tracking devices
- over SPI.
+ This driver supports the Invensense MPU6000,
+ MPU6500/6515/9250/9255, ICM20608/20609/20689, ICM20602/ICM20690 and
+ IAM20680 motion tracking devices over SPI.
This driver can be built as a module. The module will be called
inv-mpu6050-spi.
diff --git a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
index 5096fc49012d..7cb9ff3d3e94 100644
--- a/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
+++ b/drivers/iio/imu/inv_mpu6050/inv_mpu_core.c
@@ -16,6 +16,8 @@
#include <linux/acpi.h>
#include <linux/platform_device.h>
#include <linux/regulator/consumer.h>
+#include <linux/pm.h>
+#include <linux/pm_runtime.h>
#include "inv_mpu_iio.h"
#include "inv_mpu_magn.h"
@@ -99,9 +101,31 @@ static const struct inv_mpu6050_reg_map reg_set_6050 = {
};
static const struct inv_mpu6050_chip_config chip_config_6050 = {
+ .clk = INV_CLK_INTERNAL,
.fsr = INV_MPU6050_FSR_2000DPS,
.lpf = INV_MPU6050_FILTER_20HZ,
- .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(INV_MPU6050_INIT_FIFO_RATE),
+ .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+ .gyro_en = true,
+ .accl_en = true,
+ .temp_en = true,
+ .magn_en = false,
+ .gyro_fifo_enable = false,
+ .accl_fifo_enable = false,
+ .temp_fifo_enable = false,
+ .magn_fifo_enable = false,
+ .accl_fs = INV_MPU6050_FS_02G,
+ .user_ctrl = 0,
+};
+
+static const struct inv_mpu6050_chip_config chip_config_6500 = {
+ .clk = INV_CLK_PLL,
+ .fsr = INV_MPU6050_FSR_2000DPS,
+ .lpf = INV_MPU6050_FILTER_20HZ,
+ .divider = INV_MPU6050_FIFO_RATE_TO_DIVIDER(50),
+ .gyro_en = true,
+ .accl_en = true,
+ .temp_en = true,
+ .magn_en = false,
.gyro_fifo_enable = false,
.accl_fifo_enable = false,
.temp_fifo_enable = false,
@@ -124,7 +148,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_MPU6500_WHOAMI_VALUE,
.name = "MPU6500",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
},
@@ -132,7 +156,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_MPU6515_WHOAMI_VALUE,
.name = "MPU6515",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
},
@@ -156,7 +180,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_MPU9250_WHOAMI_VALUE,
.name = "MPU9250",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
},
@@ -164,7 +188,7 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_MPU9255_WHOAMI_VALUE,
.name = "MPU9255",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_MPU6500_TEMP_OFFSET, INV_MPU6500_TEMP_SCALE},
},
@@ -172,104 +196,242 @@ static const struct inv_mpu6050_hw hw_info[] = {
.whoami = INV_ICM20608_WHOAMI_VALUE,
.name = "ICM20608",
.reg = &reg_set_6500,
- .config = &chip_config_6050,
+ .config = &chip_config_6500,
.fifo_size = 512,
.temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
},
{
+ .whoami = INV_ICM20609_WHOAMI_VALUE,
+ .name = "ICM20609",
+ .reg = &reg_set_6500,
+ .config = &chip_config_6500,
+ .fifo_size = 4 * 1024,
+ .temp = {INV_ICM20608_TEMP_OFFSET, INV_ICM20608_TEMP_SCALE},
+ },
+ {
+ .whoami = INV_ICM20689_WHOAMI_VALUE,
+ .name = "ICM20689",
+ .reg = &reg_set_650