1 // SPDX-License-Identifier: GPL-2.0-or-later 2 /* 3 * ADIS16209 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/list.h> 11 #include <linux/module.h> 12 #include <linux/spi/spi.h> 13 #include <linux/slab.h> 14 #include <linux/sysfs.h> 15 16 #include <linux/iio/iio.h> 17 #include <linux/iio/imu/adis.h> 18 19 #define ADIS16209_STARTUP_DELAY_MS 220 20 #define ADIS16209_FLASH_CNT_REG 0x00 21 22 /* Data Output Register Definitions */ 23 #define ADIS16209_SUPPLY_OUT_REG 0x02 24 #define ADIS16209_XACCL_OUT_REG 0x04 25 #define ADIS16209_YACCL_OUT_REG 0x06 26 /* Output, auxiliary ADC input */ 27 #define ADIS16209_AUX_ADC_REG 0x08 28 /* Output, temperature */ 29 #define ADIS16209_TEMP_OUT_REG 0x0A 30 /* Output, +/- 90 degrees X-axis inclination */ 31 #define ADIS16209_XINCL_OUT_REG 0x0C 32 #define ADIS16209_YINCL_OUT_REG 0x0E 33 /* Output, +/-180 vertical rotational position */ 34 #define ADIS16209_ROT_OUT_REG 0x10 35 36 /* 37 * Calibration Register Definitions. 38 * Acceleration, inclination or rotation offset null. 39 */ 40 #define ADIS16209_XACCL_NULL_REG 0x12 41 #define ADIS16209_YACCL_NULL_REG 0x14 42 #define ADIS16209_XINCL_NULL_REG 0x16 43 #define ADIS16209_YINCL_NULL_REG 0x18 44 #define ADIS16209_ROT_NULL_REG 0x1A 45 46 /* Alarm Register Definitions */ 47 #define ADIS16209_ALM_MAG1_REG 0x20 48 #define ADIS16209_ALM_MAG2_REG 0x22 49 #define ADIS16209_ALM_SMPL1_REG 0x24 50 #define ADIS16209_ALM_SMPL2_REG 0x26 51 #define ADIS16209_ALM_CTRL_REG 0x28 52 53 #define ADIS16209_AUX_DAC_REG 0x30 54 #define ADIS16209_GPIO_CTRL_REG 0x32 55 #define ADIS16209_SMPL_PRD_REG 0x36 56 #define ADIS16209_AVG_CNT_REG 0x38 57 #define ADIS16209_SLP_CNT_REG 0x3A 58 59 #define ADIS16209_MSC_CTRL_REG 0x34 60 #define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10) 61 #define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8) 62 #define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2) 63 /* Data-ready polarity: 1 = active high, 0 = active low */ 64 #define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1) 65 #define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0) 66 67 #define ADIS16209_STAT_REG 0x3C 68 #define ADIS16209_STAT_ALARM2 BIT(9) 69 #define ADIS16209_STAT_ALARM1 BIT(8) 70 #define ADIS16209_STAT_SELFTEST_FAIL_BIT 5 71 #define ADIS16209_STAT_SPI_FAIL_BIT 3 72 #define ADIS16209_STAT_FLASH_UPT_FAIL_BIT 2 73 /* Power supply above 3.625 V */ 74 #define ADIS16209_STAT_POWER_HIGH_BIT 1 75 /* Power supply below 2.975 V */ 76 #define ADIS16209_STAT_POWER_LOW_BIT 0 77 78 #define ADIS16209_CMD_REG 0x3E 79 #define ADIS16209_CMD_SW_RESET BIT(7) 80 #define ADIS16209_CMD_CLEAR_STAT BIT(4) 81 #define ADIS16209_CMD_FACTORY_CAL BIT(1) 82 83 #define ADIS16209_ERROR_ACTIVE BIT(14) 84 85 enum adis16209_scan { 86 ADIS16209_SCAN_SUPPLY, 87 ADIS16209_SCAN_ACC_X, 88 ADIS16209_SCAN_ACC_Y, 89 ADIS16209_SCAN_AUX_ADC, 90 ADIS16209_SCAN_TEMP, 91 ADIS16209_SCAN_INCLI_X, 92 ADIS16209_SCAN_INCLI_Y, 93 ADIS16209_SCAN_ROT, 94 }; 95 96 static const u8 adis16209_addresses[8][1] = { 97 [ADIS16209_SCAN_SUPPLY] = { }, 98 [ADIS16209_SCAN_AUX_ADC] = { }, 99 [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG }, 100 [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG }, 101 [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG }, 102 [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG }, 103 [ADIS16209_SCAN_ROT] = { }, 104 [ADIS16209_SCAN_TEMP] = { }, 105 }; 106 107 static int adis16209_write_raw(struct iio_dev *indio_dev, 108 struct iio_chan_spec const *chan, 109 int val, 110 int val2, 111 long mask) 112 { 113 struct adis *st = iio_priv(indio_dev); 114 int m; 115 116 if (mask != IIO_CHAN_INFO_CALIBBIAS) 117 return -EINVAL; 118 119 switch (chan->type) { 120 case IIO_ACCEL: 121 case IIO_INCLI: 122 m = GENMASK(13, 0); 123 break; 124 default: 125 return -EINVAL; 126 } 127 128 return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0], 129 val & m); 130 } 131 132 static int adis16209_read_raw(struct iio_dev *indio_dev, 133 struct iio_chan_spec const *chan, 134 int *val, int *val2, 135 long mask) 136 { 137 struct adis *st = iio_priv(indio_dev); 138 int ret; 139 int bits; 140 u8 addr; 141 s16 val16; 142 143 switch (mask) { 144 case IIO_CHAN_INFO_RAW: 145 return adis_single_conversion(indio_dev, chan, 146 ADIS16209_ERROR_ACTIVE, val); 147 case IIO_CHAN_INFO_SCALE: 148 switch (chan->type) { 149 case IIO_VOLTAGE: 150 *val = 0; 151 switch (chan->channel) { 152 case 0: 153 *val2 = 305180; /* 0.30518 mV */ 154 break; 155 case 1: 156 *val2 = 610500; /* 0.6105 mV */ 157 break; 158 default: 159 return -EINVAL; 160 } 161 return IIO_VAL_INT_PLUS_MICRO; 162 case IIO_TEMP: 163 *val = -470; 164 *val2 = 0; 165 return IIO_VAL_INT_PLUS_MICRO; 166 case IIO_ACCEL: 167 /* 168 * IIO base unit for sensitivity of accelerometer 169 * is milli g. 170 * 1 LSB represents 0.244 mg. 171 */ 172 *val = 0; 173 *val2 = IIO_G_TO_M_S_2(244140); 174 return IIO_VAL_INT_PLUS_NANO; 175 case IIO_INCLI: 176 case IIO_ROT: 177 /* 178 * IIO base units for rotation are degrees. 179 * 1 LSB represents 0.025 milli degrees. 180 */ 181 *val = 0; 182 *val2 = 25000; 183 return IIO_VAL_INT_PLUS_MICRO; 184 default: 185 return -EINVAL; 186 } 187 break; 188 case IIO_CHAN_INFO_OFFSET: 189 /* 190 * The raw ADC value is 0x4FE when the temperature 191 * is 45 degrees and the scale factor per milli 192 * degree celcius is -470. 193 */ 194 *val = 25000 / -470 - 0x4FE; 195 return IIO_VAL_INT; 196 case IIO_CHAN_INFO_CALIBBIAS: 197 switch (chan->type) { 198 case IIO_ACCEL: 199 bits = 14; 200 break; 201 default: 202 return -EINVAL; 203 } 204 addr = adis16209_addresses[chan->scan_index][0]; 205 ret = adis_read_reg_16(st, addr, &val16); 206 if (ret) 207 return ret; 208 209 *val = sign_extend32(val16, bits - 1); 210 return IIO_VAL_INT; 211 } 212 return -EINVAL; 213 } 214 215 static const struct iio_chan_spec adis16209_channels[] = { 216 ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY, 217 0, 14), 218 ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12), 219 ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X, 220 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 221 ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y, 222 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 223 ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12), 224 ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X, 225 0, 0, 14), 226 ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y, 227 0, 0, 14), 228 ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14), 229 IIO_CHAN_SOFT_TIMESTAMP(8) 230 }; 231 232 static const struct iio_info adis16209_info = { 233 .read_raw = adis16209_read_raw, 234 .write_raw = adis16209_write_raw, 235 .update_scan_mode = adis_update_scan_mode, 236 }; 237 238 static const char * const adis16209_status_error_msgs[] = { 239 [ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure", 240 [ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure", 241 [ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed", 242 [ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", 243 [ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 2.975V", 244 }; 245 246 static const struct adis_timeout adis16209_timeouts = { 247 .reset_ms = ADIS16209_STARTUP_DELAY_MS, 248 .self_test_ms = ADIS16209_STARTUP_DELAY_MS, 249 .sw_reset_ms = ADIS16209_STARTUP_DELAY_MS, 250 }; 251 252 static const struct adis_data adis16209_data = { 253 .read_delay = 30, 254 .msc_ctrl_reg = ADIS16209_MSC_CTRL_REG, 255 .glob_cmd_reg = ADIS16209_CMD_REG, 256 .diag_stat_reg = ADIS16209_STAT_REG, 257 258 .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN, 259 .self_test_no_autoclear = true, 260 .timeouts = &adis16209_timeouts, 261 262 .status_error_msgs = adis16209_status_error_msgs, 263 .status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) | 264 BIT(ADIS16209_STAT_SPI_FAIL_BIT) | 265 BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) | 266 BIT(ADIS16209_STAT_POWER_HIGH_BIT) | 267 BIT(ADIS16209_STAT_POWER_LOW_BIT), 268 }; 269 270 static int adis16209_probe(struct spi_device *spi) 271 { 272 struct iio_dev *indio_dev; 273 struct adis *st; 274 int ret; 275 276 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 277 if (!indio_dev) 278 return -ENOMEM; 279 280 st = iio_priv(indio_dev); 281 spi_set_drvdata(spi, indio_dev); 282 283 indio_dev->name = spi->dev.driver->name; 284 indio_dev->dev.parent = &spi->dev; 285 indio_dev->info = &adis16209_info; 286 indio_dev->channels = adis16209_channels; 287 indio_dev->num_channels = ARRAY_SIZE(adis16209_channels); 288 indio_dev->modes = INDIO_DIRECT_MODE; 289 290 ret = adis_init(st, indio_dev, spi, &adis16209_data); 291 if (ret) 292 return ret; 293 294 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL); 295 if (ret) 296 return ret; 297 298 ret = adis_initial_startup(st); 299 if (ret) 300 goto error_cleanup_buffer_trigger; 301 ret = iio_device_register(indio_dev); 302 if (ret) 303 goto error_cleanup_buffer_trigger; 304 305 return 0; 306 307 error_cleanup_buffer_trigger: 308 adis_cleanup_buffer_and_trigger(st, indio_dev); 309 return ret; 310 } 311 312 static int adis16209_remove(struct spi_device *spi) 313 { 314 struct iio_dev *indio_dev = spi_get_drvdata(spi); 315 struct adis *st = iio_priv(indio_dev); 316 317 iio_device_unregister(indio_dev); 318 adis_cleanup_buffer_and_trigger(st, indio_dev); 319 320 return 0; 321 } 322 323 static struct spi_driver adis16209_driver = { 324 .driver = { 325 .name = "adis16209", 326 }, 327 .probe = adis16209_probe, 328 .remove = adis16209_remove, 329 }; 330 module_spi_driver(adis16209_driver); 331 332 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 333 MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer"); 334 MODULE_LICENSE("GPL v2"); 335 MODULE_ALIAS("spi:adis16209"); 336