1 // SPDX-License-Identifier: GPL-2.0-or-later 2 /* 3 * ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer 4 * 5 * Copyright 2010 Analog Devices Inc. 6 */ 7 8 #include <linux/device.h> 9 #include <linux/kernel.h> 10 #include <linux/module.h> 11 #include <linux/mutex.h> 12 #include <linux/slab.h> 13 #include <linux/spi/spi.h> 14 #include <linux/sysfs.h> 15 16 #include <linux/iio/iio.h> 17 #include <linux/iio/imu/adis.h> 18 19 #define ADIS16201_STARTUP_DELAY_MS 220 20 #define ADIS16201_FLASH_CNT 0x00 21 22 /* Data Output Register Information */ 23 #define ADIS16201_SUPPLY_OUT_REG 0x02 24 #define ADIS16201_XACCL_OUT_REG 0x04 25 #define ADIS16201_YACCL_OUT_REG 0x06 26 #define ADIS16201_AUX_ADC_REG 0x08 27 #define ADIS16201_TEMP_OUT_REG 0x0A 28 #define ADIS16201_XINCL_OUT_REG 0x0C 29 #define ADIS16201_YINCL_OUT_REG 0x0E 30 31 /* Calibration Register Definition */ 32 #define ADIS16201_XACCL_OFFS_REG 0x10 33 #define ADIS16201_YACCL_OFFS_REG 0x12 34 #define ADIS16201_XACCL_SCALE_REG 0x14 35 #define ADIS16201_YACCL_SCALE_REG 0x16 36 #define ADIS16201_XINCL_OFFS_REG 0x18 37 #define ADIS16201_YINCL_OFFS_REG 0x1A 38 #define ADIS16201_XINCL_SCALE_REG 0x1C 39 #define ADIS16201_YINCL_SCALE_REG 0x1E 40 41 /* Alarm Register Definition */ 42 #define ADIS16201_ALM_MAG1_REG 0x20 43 #define ADIS16201_ALM_MAG2_REG 0x22 44 #define ADIS16201_ALM_SMPL1_REG 0x24 45 #define ADIS16201_ALM_SMPL2_REG 0x26 46 #define ADIS16201_ALM_CTRL_REG 0x28 47 48 #define ADIS16201_AUX_DAC_REG 0x30 49 #define ADIS16201_GPIO_CTRL_REG 0x32 50 #define ADIS16201_SMPL_PRD_REG 0x36 51 /* Operation, filter configuration */ 52 #define ADIS16201_AVG_CNT_REG 0x38 53 #define ADIS16201_SLP_CNT_REG 0x3A 54 55 /* Miscellaneous Control Register Definition */ 56 #define ADIS16201_MSC_CTRL_REG 0x34 57 #define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8) 58 /* Data-ready enable: 1 = enabled, 0 = disabled */ 59 #define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2) 60 /* Data-ready polarity: 1 = active high, 0 = active low */ 61 #define ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH BIT(1) 62 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */ 63 #define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0) 64 65 /* Diagnostics System Status Register Definition */ 66 #define ADIS16201_DIAG_STAT_REG 0x3C 67 #define ADIS16201_DIAG_STAT_ALARM2 BIT(9) 68 #define ADIS16201_DIAG_STAT_ALARM1 BIT(8) 69 #define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3 70 #define ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT 2 71 /* Power supply above 3.625 V */ 72 #define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1 73 /* Power supply below 2.975 V */ 74 #define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0 75 76 /* System Command Register Definition */ 77 #define ADIS16201_GLOB_CMD_REG 0x3E 78 #define ADIS16201_GLOB_CMD_SW_RESET BIT(7) 79 #define ADIS16201_GLOB_CMD_FACTORY_RESET BIT(1) 80 81 #define ADIS16201_ERROR_ACTIVE BIT(14) 82 83 enum adis16201_scan { 84 ADIS16201_SCAN_ACC_X, 85 ADIS16201_SCAN_ACC_Y, 86 ADIS16201_SCAN_INCLI_X, 87 ADIS16201_SCAN_INCLI_Y, 88 ADIS16201_SCAN_SUPPLY, 89 ADIS16201_SCAN_AUX_ADC, 90 ADIS16201_SCAN_TEMP, 91 }; 92 93 static const u8 adis16201_addresses[] = { 94 [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG, 95 [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG, 96 [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG, 97 [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG, 98 }; 99 100 static int adis16201_read_raw(struct iio_dev *indio_dev, 101 struct iio_chan_spec const *chan, 102 int *val, int *val2, 103 long mask) 104 { 105 struct adis *st = iio_priv(indio_dev); 106 int ret; 107 int bits; 108 u8 addr; 109 s16 val16; 110 111 switch (mask) { 112 case IIO_CHAN_INFO_RAW: 113 return adis_single_conversion(indio_dev, chan, 114 ADIS16201_ERROR_ACTIVE, val); 115 case IIO_CHAN_INFO_SCALE: 116 switch (chan->type) { 117 case IIO_VOLTAGE: 118 if (chan->channel == 0) { 119 /* Voltage base units are mV hence 1.22 mV */ 120 *val = 1; 121 *val2 = 220000; 122 } else { 123 /* Voltage base units are mV hence 0.61 mV */ 124 *val = 0; 125 *val2 = 610000; 126 } 127 return IIO_VAL_INT_PLUS_MICRO; 128 case IIO_TEMP: 129 *val = -470; 130 *val2 = 0; 131 return IIO_VAL_INT_PLUS_MICRO; 132 case IIO_ACCEL: 133 /* 134 * IIO base unit for sensitivity of accelerometer 135 * is milli g. 136 * 1 LSB represents 0.244 mg. 137 */ 138 *val = 0; 139 *val2 = IIO_G_TO_M_S_2(462400); 140 return IIO_VAL_INT_PLUS_NANO; 141 case IIO_INCLI: 142 *val = 0; 143 *val2 = 100000; 144 return IIO_VAL_INT_PLUS_MICRO; 145 default: 146 return -EINVAL; 147 } 148 break; 149 case IIO_CHAN_INFO_OFFSET: 150 /* 151 * The raw ADC value is 1278 when the temperature 152 * is 25 degrees and the scale factor per milli 153 * degree celcius is -470. 154 */ 155 *val = 25000 / -470 - 1278; 156 return IIO_VAL_INT; 157 case IIO_CHAN_INFO_CALIBBIAS: 158 switch (chan->type) { 159 case IIO_ACCEL: 160 bits = 12; 161 break; 162 case IIO_INCLI: 163 bits = 9; 164 break; 165 default: 166 return -EINVAL; 167 } 168 addr = adis16201_addresses[chan->scan_index]; 169 ret = adis_read_reg_16(st, addr, &val16); 170 if (ret) 171 return ret; 172 173 *val = sign_extend32(val16, bits - 1); 174 return IIO_VAL_INT; 175 } 176 177 return -EINVAL; 178 } 179 180 static int adis16201_write_raw(struct iio_dev *indio_dev, 181 struct iio_chan_spec const *chan, 182 int val, 183 int val2, 184 long mask) 185 { 186 struct adis *st = iio_priv(indio_dev); 187 int m; 188 189 if (mask != IIO_CHAN_INFO_CALIBBIAS) 190 return -EINVAL; 191 192 switch (chan->type) { 193 case IIO_ACCEL: 194 m = GENMASK(11, 0); 195 break; 196 case IIO_INCLI: 197 m = GENMASK(8, 0); 198 break; 199 default: 200 return -EINVAL; 201 } 202 203 return adis_write_reg_16(st, adis16201_addresses[chan->scan_index], 204 val & m); 205 } 206 207 static const struct iio_chan_spec adis16201_channels[] = { 208 ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0, 209 12), 210 ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12), 211 ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X, 212 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 213 ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y, 214 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 215 ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12), 216 ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X, 217 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 218 ADIS_INCLI_CHAN(X, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y, 219 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 220 IIO_CHAN_SOFT_TIMESTAMP(7) 221 }; 222 223 static const struct iio_info adis16201_info = { 224 .read_raw = adis16201_read_raw, 225 .write_raw = adis16201_write_raw, 226 .update_scan_mode = adis_update_scan_mode, 227 }; 228 229 static const char * const adis16201_status_error_msgs[] = { 230 [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 231 [ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed", 232 [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", 233 [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V", 234 }; 235 236 static const struct adis_data adis16201_data = { 237 .read_delay = 20, 238 .msc_ctrl_reg = ADIS16201_MSC_CTRL_REG, 239 .glob_cmd_reg = ADIS16201_GLOB_CMD_REG, 240 .diag_stat_reg = ADIS16201_DIAG_STAT_REG, 241 242 .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN, 243 .self_test_no_autoclear = true, 244 .startup_delay = ADIS16201_STARTUP_DELAY_MS, 245 246 .status_error_msgs = adis16201_status_error_msgs, 247 .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) | 248 BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) | 249 BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) | 250 BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT), 251 }; 252 253 static int adis16201_probe(struct spi_device *spi) 254 { 255 struct iio_dev *indio_dev; 256 struct adis *st; 257 int ret; 258 259 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 260 if (!indio_dev) 261 return -ENOMEM; 262 263 st = iio_priv(indio_dev); 264 spi_set_drvdata(spi, indio_dev); 265 266 indio_dev->name = spi->dev.driver->name; 267 indio_dev->dev.parent = &spi->dev; 268 indio_dev->info = &adis16201_info; 269 270 indio_dev->channels = adis16201_channels; 271 indio_dev->num_channels = ARRAY_SIZE(adis16201_channels); 272 indio_dev->modes = INDIO_DIRECT_MODE; 273 274 ret = adis_init(st, indio_dev, spi, &adis16201_data); 275 if (ret) 276 return ret; 277 278 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL); 279 if (ret) 280 return ret; 281 282 ret = adis_initial_startup(st); 283 if (ret) 284 goto error_cleanup_buffer_trigger; 285 286 ret = iio_device_register(indio_dev); 287 if (ret < 0) 288 goto error_cleanup_buffer_trigger; 289 290 return 0; 291 292 error_cleanup_buffer_trigger: 293 adis_cleanup_buffer_and_trigger(st, indio_dev); 294 return ret; 295 } 296 297 static int adis16201_remove(struct spi_device *spi) 298 { 299 struct iio_dev *indio_dev = spi_get_drvdata(spi); 300 struct adis *st = iio_priv(indio_dev); 301 302 iio_device_unregister(indio_dev); 303 adis_cleanup_buffer_and_trigger(st, indio_dev); 304 305 return 0; 306 } 307 308 static struct spi_driver adis16201_driver = { 309 .driver = { 310 .name = "adis16201", 311 }, 312 .probe = adis16201_probe, 313 .remove = adis16201_remove, 314 }; 315 module_spi_driver(adis16201_driver); 316 317 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 318 MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer"); 319 MODULE_LICENSE("GPL v2"); 320 MODULE_ALIAS("spi:adis16201"); 321