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/spi/spi.h> 12 13 #include <linux/iio/iio.h> 14 #include <linux/iio/imu/adis.h> 15 16 #define ADIS16201_STARTUP_DELAY_MS 220 17 #define ADIS16201_FLASH_CNT 0x00 18 19 /* Data Output Register Information */ 20 #define ADIS16201_SUPPLY_OUT_REG 0x02 21 #define ADIS16201_XACCL_OUT_REG 0x04 22 #define ADIS16201_YACCL_OUT_REG 0x06 23 #define ADIS16201_AUX_ADC_REG 0x08 24 #define ADIS16201_TEMP_OUT_REG 0x0A 25 #define ADIS16201_XINCL_OUT_REG 0x0C 26 #define ADIS16201_YINCL_OUT_REG 0x0E 27 28 /* Calibration Register Definition */ 29 #define ADIS16201_XACCL_OFFS_REG 0x10 30 #define ADIS16201_YACCL_OFFS_REG 0x12 31 #define ADIS16201_XACCL_SCALE_REG 0x14 32 #define ADIS16201_YACCL_SCALE_REG 0x16 33 #define ADIS16201_XINCL_OFFS_REG 0x18 34 #define ADIS16201_YINCL_OFFS_REG 0x1A 35 #define ADIS16201_XINCL_SCALE_REG 0x1C 36 #define ADIS16201_YINCL_SCALE_REG 0x1E 37 38 /* Alarm Register Definition */ 39 #define ADIS16201_ALM_MAG1_REG 0x20 40 #define ADIS16201_ALM_MAG2_REG 0x22 41 #define ADIS16201_ALM_SMPL1_REG 0x24 42 #define ADIS16201_ALM_SMPL2_REG 0x26 43 #define ADIS16201_ALM_CTRL_REG 0x28 44 45 #define ADIS16201_AUX_DAC_REG 0x30 46 #define ADIS16201_GPIO_CTRL_REG 0x32 47 #define ADIS16201_SMPL_PRD_REG 0x36 48 /* Operation, filter configuration */ 49 #define ADIS16201_AVG_CNT_REG 0x38 50 #define ADIS16201_SLP_CNT_REG 0x3A 51 52 /* Miscellaneous Control Register Definition */ 53 #define ADIS16201_MSC_CTRL_REG 0x34 54 #define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8) 55 /* Data-ready enable: 1 = enabled, 0 = disabled */ 56 #define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2) 57 /* Data-ready polarity: 1 = active high, 0 = active low */ 58 #define ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH BIT(1) 59 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */ 60 #define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0) 61 62 /* Diagnostics System Status Register Definition */ 63 #define ADIS16201_DIAG_STAT_REG 0x3C 64 #define ADIS16201_DIAG_STAT_ALARM2 BIT(9) 65 #define ADIS16201_DIAG_STAT_ALARM1 BIT(8) 66 #define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3 67 #define ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT 2 68 /* Power supply above 3.625 V */ 69 #define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1 70 /* Power supply below 2.975 V */ 71 #define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0 72 73 /* System Command Register Definition */ 74 #define ADIS16201_GLOB_CMD_REG 0x3E 75 #define ADIS16201_GLOB_CMD_SW_RESET BIT(7) 76 #define ADIS16201_GLOB_CMD_FACTORY_RESET BIT(1) 77 78 #define ADIS16201_ERROR_ACTIVE BIT(14) 79 80 enum adis16201_scan { 81 ADIS16201_SCAN_ACC_X, 82 ADIS16201_SCAN_ACC_Y, 83 ADIS16201_SCAN_INCLI_X, 84 ADIS16201_SCAN_INCLI_Y, 85 ADIS16201_SCAN_SUPPLY, 86 ADIS16201_SCAN_AUX_ADC, 87 ADIS16201_SCAN_TEMP, 88 }; 89 90 static const u8 adis16201_addresses[] = { 91 [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG, 92 [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG, 93 [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG, 94 [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG, 95 }; 96 97 static int adis16201_read_raw(struct iio_dev *indio_dev, 98 struct iio_chan_spec const *chan, 99 int *val, int *val2, 100 long mask) 101 { 102 struct adis *st = iio_priv(indio_dev); 103 int ret; 104 int bits; 105 u8 addr; 106 s16 val16; 107 108 switch (mask) { 109 case IIO_CHAN_INFO_RAW: 110 return adis_single_conversion(indio_dev, chan, 111 ADIS16201_ERROR_ACTIVE, val); 112 case IIO_CHAN_INFO_SCALE: 113 switch (chan->type) { 114 case IIO_VOLTAGE: 115 if (chan->channel == 0) { 116 /* Voltage base units are mV hence 1.22 mV */ 117 *val = 1; 118 *val2 = 220000; 119 } else { 120 /* Voltage base units are mV hence 0.61 mV */ 121 *val = 0; 122 *val2 = 610000; 123 } 124 return IIO_VAL_INT_PLUS_MICRO; 125 case IIO_TEMP: 126 *val = -470; 127 *val2 = 0; 128 return IIO_VAL_INT_PLUS_MICRO; 129 case IIO_ACCEL: 130 /* 131 * IIO base unit for sensitivity of accelerometer 132 * is milli g. 133 * 1 LSB represents 0.244 mg. 134 */ 135 *val = 0; 136 *val2 = IIO_G_TO_M_S_2(462400); 137 return IIO_VAL_INT_PLUS_NANO; 138 case IIO_INCLI: 139 *val = 0; 140 *val2 = 100000; 141 return IIO_VAL_INT_PLUS_MICRO; 142 default: 143 return -EINVAL; 144 } 145 break; 146 case IIO_CHAN_INFO_OFFSET: 147 /* 148 * The raw ADC value is 1278 when the temperature 149 * is 25 degrees and the scale factor per milli 150 * degree celcius is -470. 151 */ 152 *val = 25000 / -470 - 1278; 153 return IIO_VAL_INT; 154 case IIO_CHAN_INFO_CALIBBIAS: 155 switch (chan->type) { 156 case IIO_ACCEL: 157 bits = 12; 158 break; 159 case IIO_INCLI: 160 bits = 9; 161 break; 162 default: 163 return -EINVAL; 164 } 165 addr = adis16201_addresses[chan->scan_index]; 166 ret = adis_read_reg_16(st, addr, &val16); 167 if (ret) 168 return ret; 169 170 *val = sign_extend32(val16, bits - 1); 171 return IIO_VAL_INT; 172 } 173 174 return -EINVAL; 175 } 176 177 static int adis16201_write_raw(struct iio_dev *indio_dev, 178 struct iio_chan_spec const *chan, 179 int val, 180 int val2, 181 long mask) 182 { 183 struct adis *st = iio_priv(indio_dev); 184 int m; 185 186 if (mask != IIO_CHAN_INFO_CALIBBIAS) 187 return -EINVAL; 188 189 switch (chan->type) { 190 case IIO_ACCEL: 191 m = GENMASK(11, 0); 192 break; 193 case IIO_INCLI: 194 m = GENMASK(8, 0); 195 break; 196 default: 197 return -EINVAL; 198 } 199 200 return adis_write_reg_16(st, adis16201_addresses[chan->scan_index], 201 val & m); 202 } 203 204 static const struct iio_chan_spec adis16201_channels[] = { 205 ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0, 206 12), 207 ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12), 208 ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X, 209 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 210 ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y, 211 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 212 ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12), 213 ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X, 214 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 215 ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y, 216 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 217 IIO_CHAN_SOFT_TIMESTAMP(7) 218 }; 219 220 static const struct iio_info adis16201_info = { 221 .read_raw = adis16201_read_raw, 222 .write_raw = adis16201_write_raw, 223 .update_scan_mode = adis_update_scan_mode, 224 }; 225 226 static const char * const adis16201_status_error_msgs[] = { 227 [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 228 [ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed", 229 [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", 230 [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V", 231 }; 232 233 static const struct adis_timeout adis16201_timeouts = { 234 .reset_ms = ADIS16201_STARTUP_DELAY_MS, 235 .sw_reset_ms = ADIS16201_STARTUP_DELAY_MS, 236 .self_test_ms = ADIS16201_STARTUP_DELAY_MS, 237 }; 238 239 static const struct adis_data adis16201_data = { 240 .read_delay = 20, 241 .msc_ctrl_reg = ADIS16201_MSC_CTRL_REG, 242 .glob_cmd_reg = ADIS16201_GLOB_CMD_REG, 243 .diag_stat_reg = ADIS16201_DIAG_STAT_REG, 244 245 .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN, 246 .self_test_reg = ADIS16201_MSC_CTRL_REG, 247 .self_test_no_autoclear = true, 248 .timeouts = &adis16201_timeouts, 249 250 .status_error_msgs = adis16201_status_error_msgs, 251 .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) | 252 BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) | 253 BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) | 254 BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT), 255 }; 256 257 static int adis16201_probe(struct spi_device *spi) 258 { 259 struct iio_dev *indio_dev; 260 struct adis *st; 261 int ret; 262 263 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 264 if (!indio_dev) 265 return -ENOMEM; 266 267 st = iio_priv(indio_dev); 268 269 indio_dev->name = spi->dev.driver->name; 270 indio_dev->info = &adis16201_info; 271 272 indio_dev->channels = adis16201_channels; 273 indio_dev->num_channels = ARRAY_SIZE(adis16201_channels); 274 indio_dev->modes = INDIO_DIRECT_MODE; 275 276 ret = adis_init(st, indio_dev, spi, &adis16201_data); 277 if (ret) 278 return ret; 279 280 ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL); 281 if (ret) 282 return ret; 283 284 ret = adis_initial_startup(st); 285 if (ret) 286 return ret; 287 288 return devm_iio_device_register(&spi->dev, indio_dev); 289 } 290 291 static struct spi_driver adis16201_driver = { 292 .driver = { 293 .name = "adis16201", 294 }, 295 .probe = adis16201_probe, 296 }; 297 module_spi_driver(adis16201_driver); 298 299 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 300 MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer"); 301 MODULE_LICENSE("GPL v2"); 302 MODULE_ALIAS("spi:adis16201"); 303