Commit 98c9373d authored by Jonathan Cameron's avatar Jonathan Cameron Committed by Greg Kroah-Hartman
Browse files

staging:iio:imu:adis16400 add control of data filtering. 



Bartlett filter used.  Values read of figures on datasheet
so far from precise.

Signed-off-by: default avatarJonathan Cameron <jic23@cam.ac.uk>
Signed-off-by: default avatarGreg Kroah-Hartman <gregkh@suse.de>
parent df94aba8

drivers/staging/iio/imu/adis16400.h

+2 −0
Original line number Diff line number Diff line
@@ -148,12 +148,14 @@ struct adis16400_chip_info { 
 * @tx:			transmit buffer

 * @rx:			receive buffer

 * @buf_lock:		mutex to protect tx and rx

 * @filt_int:		integer part of requested filter frequency

 **/

struct adis16400_state {

	struct spi_device		*us;

	struct iio_trigger		*trig;

	struct mutex			buf_lock;

	struct adis16400_chip_info	*variant;

	int				filt_int;



	u8	tx[ADIS16400_MAX_TX] ____cacheline_aligned;

	u8	rx[ADIS16400_MAX_RX] ____cacheline_aligned;

drivers/staging/iio/imu/adis16400_core.c

+140 −37
Original line number Diff line number Diff line
@@ -161,25 +161,65 @@ error_ret: 
	return ret;

}



static int adis16400_get_freq(struct iio_dev *indio_dev)

{

	u16 t;

	int sps, ret;



	ret = adis16400_spi_read_reg_16(indio_dev, ADIS16400_SMPL_PRD, &t);

	if (ret < 0)

		return ret;

	sps =  (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;

	sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;



	return sps;

}



static ssize_t adis16400_read_frequency(struct device *dev,

		struct device_attribute *attr,

		char *buf)

{

	struct iio_dev *indio_dev = dev_get_drvdata(dev);

	int ret, len = 0;

	u16 t;

	int sps;

	ret = adis16400_spi_read_reg_16(indio_dev,

			ADIS16400_SMPL_PRD,

			&t);

	if (ret)

	ret = adis16400_get_freq(indio_dev);

	if (ret < 0)

		return ret;

	sps =  (t & ADIS16400_SMPL_PRD_TIME_BASE) ? 53 : 1638;

	sps /= (t & ADIS16400_SMPL_PRD_DIV_MASK) + 1;

	len = sprintf(buf, "%d SPS\n", sps);

	len = sprintf(buf, "%d SPS\n", ret);

	return len;

}



static const unsigned adis16400_3db_divisors[] = {

	[0] = 2, /* Special case */

	[1] = 5,

	[2] = 10,

	[3] = 50,

	[4] = 200,

};



static int adis16400_set_filter(struct iio_dev *indio_dev, int sps, int val)

{

	int i, ret;

	u16 val16;

	for (i = ARRAY_SIZE(adis16400_3db_divisors) - 1; i >= 0; i--)

		if (sps/adis16400_3db_divisors[i] > val)

			break;

	if (i == -1)

		ret = -EINVAL;

	else {

		ret = adis16400_spi_read_reg_16(indio_dev,

						ADIS16400_SENS_AVG,

						&val16);

		if (ret < 0)

			goto error_ret;



		ret = adis16400_spi_write_reg_16(indio_dev,

						 ADIS16400_SENS_AVG,

						 (val16 & ~0x03) | i);

	}

error_ret:

	return ret;

}



static ssize_t adis16400_write_frequency(struct device *dev,

		struct device_attribute *attr,

		const char *buf,
@@ -210,6 +250,7 @@ static ssize_t adis16400_write_frequency(struct device *dev, 
			ADIS16400_SMPL_PRD,

			t);



	/* Also update the filter */

	mutex_unlock(&indio_dev->mlock);



	return ret ? ret : len;
@@ -455,13 +496,15 @@ static u8 adis16400_addresses[17][2] = { 
	[incli_y] = { ADIS16300_ROLL_OUT }

};





static int adis16400_write_raw(struct iio_dev *indio_dev,

			       struct iio_chan_spec const *chan,

			       int val,

			       int val2,

			       long mask)

{

	int ret;

	struct adis16400_state *st = iio_priv(indio_dev);

	int ret, sps;



	switch (mask) {

	case IIO_CHAN_INFO_CALIBBIAS:
@@ -471,6 +514,21 @@ static int adis16400_write_raw(struct iio_dev *indio_dev, 
				val);

		mutex_unlock(&indio_dev->mlock);

		return ret;

	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:

		/* Need to cache values so we can update if the frequency

		   changes */

		mutex_lock(&indio_dev->mlock);

		st->filt_int = val;

		/* Work out update to current value */

		sps = adis16400_get_freq(indio_dev);

		if (sps < 0) {

			mutex_unlock(&indio_dev->mlock);

			return sps;

		}



		ret = adis16400_set_filter(indio_dev, sps, val);

		mutex_unlock(&indio_dev->mlock);

		return ret;

	default:

		return -EINVAL;

	}
@@ -548,6 +606,24 @@ static int adis16400_read_raw(struct iio_dev *indio_dev, 
		*val = 198;

		*val2 = 160000;

		return IIO_VAL_INT_PLUS_MICRO;

	case IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY:

		mutex_lock(&indio_dev->mlock);

		/* Need both the number of taps and the sampling frequency */

		ret = adis16400_spi_read_reg_16(indio_dev,

						ADIS16400_SENS_AVG,

						&val16);

		if (ret < 0) {

			mutex_unlock(&indio_dev->mlock);

			return ret;

		}

		ret = adis16400_get_freq(indio_dev);

		if (ret > 0)

			*val = ret/adis16400_3db_divisors[val16 & 0x03];

		*val2 = 0;

		mutex_unlock(&indio_dev->mlock);

		if (ret < 0)

			return ret;

		return IIO_VAL_INT_PLUS_MICRO;

	default:

		return -EINVAL;

	}
@@ -568,7 +644,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_x,

		.scan_index = ADIS16400_SCAN_GYRO_X,

		.scan_type = IIO_ST('s', 14, 16, 0)
@@ -577,7 +654,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Y,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_y,

		.scan_index = ADIS16400_SCAN_GYRO_Y,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -586,7 +664,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Z,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_z,

		.scan_index = ADIS16400_SCAN_GYRO_Z,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -595,7 +674,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_x,

		.scan_index = ADIS16400_SCAN_ACC_X,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -604,7 +684,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Y,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_y,

		.scan_index = ADIS16400_SCAN_ACC_Y,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -613,7 +694,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Z,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_z,

		.scan_index = ADIS16400_SCAN_ACC_Z,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -621,7 +703,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.type = IIO_MAGN,

		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,

		.info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = magn_x,

		.scan_index = ADIS16400_SCAN_MAGN_X,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -629,7 +712,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.type = IIO_MAGN,

		.modified = 1,

		.channel2 = IIO_MOD_Y,

		.info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,

		.info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = magn_y,

		.scan_index = ADIS16400_SCAN_MAGN_Y,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -637,7 +721,8 @@ static struct iio_chan_spec adis16400_channels[] = { 
		.type = IIO_MAGN,

		.modified = 1,

		.channel2 = IIO_MOD_Z,

		.info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT,

		.info_mask = IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = magn_z,

		.scan_index = ADIS16400_SCAN_MAGN_Z,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -677,7 +762,8 @@ static struct iio_chan_spec adis16350_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_x,

		.scan_index = ADIS16400_SCAN_GYRO_X,

		.scan_type = IIO_ST('s', 14, 16, 0)
@@ -686,7 +772,8 @@ static struct iio_chan_spec adis16350_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Y,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_y,

		.scan_index = ADIS16400_SCAN_GYRO_Y,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -695,7 +782,8 @@ static struct iio_chan_spec adis16350_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Z,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_z,

		.scan_index = ADIS16400_SCAN_GYRO_Z,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -704,7 +792,8 @@ static struct iio_chan_spec adis16350_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_x,

		.scan_index = ADIS16400_SCAN_ACC_X,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -713,7 +802,8 @@ static struct iio_chan_spec adis16350_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Y,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_y,

		.scan_index = ADIS16400_SCAN_ACC_Y,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -722,7 +812,8 @@ static struct iio_chan_spec adis16350_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Z,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_z,

		.scan_index = ADIS16400_SCAN_ACC_Z,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -732,7 +823,8 @@ static struct iio_chan_spec adis16350_channels[] = { 
		.channel = 0,

		.extend_name = "x",

		.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SEPARATE_BIT,

		IIO_CHAN_INFO_SCALE_SEPARATE_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = temp0,

		.scan_index = ADIS16350_SCAN_TEMP_X,

		.scan_type = IIO_ST('s', 12, 16, 0),
@@ -742,7 +834,8 @@ static struct iio_chan_spec adis16350_channels[] = { 
		.channel = 1,

		.extend_name = "y",

		.info_mask = IIO_CHAN_INFO_OFFSET_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SEPARATE_BIT,

		IIO_CHAN_INFO_SCALE_SEPARATE_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = temp1,

		.scan_index = ADIS16350_SCAN_TEMP_Y,

		.scan_type = IIO_ST('s', 12, 16, 0),
@@ -783,7 +876,8 @@ static struct iio_chan_spec adis16300_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_x,

		.scan_index = ADIS16400_SCAN_GYRO_X,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -792,7 +886,8 @@ static struct iio_chan_spec adis16300_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_x,

		.scan_index = ADIS16400_SCAN_ACC_X,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -801,7 +896,8 @@ static struct iio_chan_spec adis16300_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Y,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_y,

		.scan_index = ADIS16400_SCAN_ACC_Y,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -810,7 +906,8 @@ static struct iio_chan_spec adis16300_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Z,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_z,

		.scan_index = ADIS16400_SCAN_ACC_Z,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -857,7 +954,8 @@ static const struct iio_chan_spec adis16334_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_x,

		.scan_index = ADIS16400_SCAN_GYRO_X,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -866,7 +964,8 @@ static const struct iio_chan_spec adis16334_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Y,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_y,

		.scan_index = ADIS16400_SCAN_GYRO_Y,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -875,7 +974,8 @@ static const struct iio_chan_spec adis16334_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Z,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = gyro_z,

		.scan_index = ADIS16400_SCAN_GYRO_Z,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -884,7 +984,8 @@ static const struct iio_chan_spec adis16334_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_X,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_x,

		.scan_index = ADIS16400_SCAN_ACC_X,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -893,7 +994,8 @@ static const struct iio_chan_spec adis16334_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Y,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_y,

		.scan_index = ADIS16400_SCAN_ACC_Y,

		.scan_type = IIO_ST('s', 14, 16, 0),
@@ -902,7 +1004,8 @@ static const struct iio_chan_spec adis16334_channels[] = { 
		.modified = 1,

		.channel2 = IIO_MOD_Z,

		.info_mask = IIO_CHAN_INFO_CALIBBIAS_SEPARATE_BIT |

		IIO_CHAN_INFO_SCALE_SHARED_BIT,

		IIO_CHAN_INFO_SCALE_SHARED_BIT |

		IIO_CHAN_INFO_LOW_PASS_FILTER_3DB_FREQUENCY_SHARED_BIT,

		.address = accel_z,

		.scan_index = ADIS16400_SCAN_ACC_Z,

		.scan_type = IIO_ST('s', 14, 16, 0),

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