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