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9#include <linux/device.h>
10#include <linux/kernel.h>
11#include <linux/list.h>
12#include <linux/module.h>
13#include <linux/spi/spi.h>
14#include <linux/slab.h>
15#include <linux/sysfs.h>
16
17#include <linux/iio/iio.h>
18#include <linux/iio/imu/adis.h>
19
20#define ADIS16209_STARTUP_DELAY_MS 220
21#define ADIS16209_FLASH_CNT_REG 0x00
22
23
24#define ADIS16209_SUPPLY_OUT_REG 0x02
25#define ADIS16209_XACCL_OUT_REG 0x04
26#define ADIS16209_YACCL_OUT_REG 0x06
27
28#define ADIS16209_AUX_ADC_REG 0x08
29
30#define ADIS16209_TEMP_OUT_REG 0x0A
31
32#define ADIS16209_XINCL_OUT_REG 0x0C
33#define ADIS16209_YINCL_OUT_REG 0x0E
34
35#define ADIS16209_ROT_OUT_REG 0x10
36
37
38
39
40
41#define ADIS16209_XACCL_NULL_REG 0x12
42#define ADIS16209_YACCL_NULL_REG 0x14
43#define ADIS16209_XINCL_NULL_REG 0x16
44#define ADIS16209_YINCL_NULL_REG 0x18
45#define ADIS16209_ROT_NULL_REG 0x1A
46
47
48#define ADIS16209_ALM_MAG1_REG 0x20
49#define ADIS16209_ALM_MAG2_REG 0x22
50#define ADIS16209_ALM_SMPL1_REG 0x24
51#define ADIS16209_ALM_SMPL2_REG 0x26
52#define ADIS16209_ALM_CTRL_REG 0x28
53
54#define ADIS16209_AUX_DAC_REG 0x30
55#define ADIS16209_GPIO_CTRL_REG 0x32
56#define ADIS16209_SMPL_PRD_REG 0x36
57#define ADIS16209_AVG_CNT_REG 0x38
58#define ADIS16209_SLP_CNT_REG 0x3A
59
60#define ADIS16209_MSC_CTRL_REG 0x34
61#define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
62#define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8)
63#define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2)
64
65#define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1)
66#define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
67
68#define ADIS16209_STAT_REG 0x3C
69#define ADIS16209_STAT_ALARM2 BIT(9)
70#define ADIS16209_STAT_ALARM1 BIT(8)
71#define ADIS16209_STAT_SELFTEST_FAIL_BIT 5
72#define ADIS16209_STAT_SPI_FAIL_BIT 3
73#define ADIS16209_STAT_FLASH_UPT_FAIL_BIT 2
74
75#define ADIS16209_STAT_POWER_HIGH_BIT 1
76
77#define ADIS16209_STAT_POWER_LOW_BIT 0
78
79#define ADIS16209_CMD_REG 0x3E
80#define ADIS16209_CMD_SW_RESET BIT(7)
81#define ADIS16209_CMD_CLEAR_STAT BIT(4)
82#define ADIS16209_CMD_FACTORY_CAL BIT(1)
83
84#define ADIS16209_ERROR_ACTIVE BIT(14)
85
86enum adis16209_scan {
87 ADIS16209_SCAN_SUPPLY,
88 ADIS16209_SCAN_ACC_X,
89 ADIS16209_SCAN_ACC_Y,
90 ADIS16209_SCAN_AUX_ADC,
91 ADIS16209_SCAN_TEMP,
92 ADIS16209_SCAN_INCLI_X,
93 ADIS16209_SCAN_INCLI_Y,
94 ADIS16209_SCAN_ROT,
95};
96
97static const u8 adis16209_addresses[8][1] = {
98 [ADIS16209_SCAN_SUPPLY] = { },
99 [ADIS16209_SCAN_AUX_ADC] = { },
100 [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG },
101 [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG },
102 [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG },
103 [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG },
104 [ADIS16209_SCAN_ROT] = { },
105 [ADIS16209_SCAN_TEMP] = { },
106};
107
108static int adis16209_write_raw(struct iio_dev *indio_dev,
109 struct iio_chan_spec const *chan,
110 int val,
111 int val2,
112 long mask)
113{
114 struct adis *st = iio_priv(indio_dev);
115 int m;
116
117 if (mask != IIO_CHAN_INFO_CALIBBIAS)
118 return -EINVAL;
119
120 switch (chan->type) {
121 case IIO_ACCEL:
122 case IIO_INCLI:
123 m = GENMASK(13, 0);
124 break;
125 default:
126 return -EINVAL;
127 }
128
129 return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0],
130 val & m);
131}
132
133static int adis16209_read_raw(struct iio_dev *indio_dev,
134 struct iio_chan_spec const *chan,
135 int *val, int *val2,
136 long mask)
137{
138 struct adis *st = iio_priv(indio_dev);
139 int ret;
140 int bits;
141 u8 addr;
142 s16 val16;
143
144 switch (mask) {
145 case IIO_CHAN_INFO_RAW:
146 return adis_single_conversion(indio_dev, chan,
147 ADIS16209_ERROR_ACTIVE, val);
148 case IIO_CHAN_INFO_SCALE:
149 switch (chan->type) {
150 case IIO_VOLTAGE:
151 *val = 0;
152 switch (chan->channel) {
153 case 0:
154 *val2 = 305180;
155 break;
156 case 1:
157 *val2 = 610500;
158 break;
159 default:
160 return -EINVAL;
161 }
162 return IIO_VAL_INT_PLUS_MICRO;
163 case IIO_TEMP:
164 *val = -470;
165 *val2 = 0;
166 return IIO_VAL_INT_PLUS_MICRO;
167 case IIO_ACCEL:
168
169
170
171
172
173 *val = 0;
174 *val2 = IIO_G_TO_M_S_2(244140);
175 return IIO_VAL_INT_PLUS_NANO;
176 case IIO_INCLI:
177 case IIO_ROT:
178
179
180
181
182 *val = 0;
183 *val2 = 25000;
184 return IIO_VAL_INT_PLUS_MICRO;
185 default:
186 return -EINVAL;
187 }
188 break;
189 case IIO_CHAN_INFO_OFFSET:
190
191
192
193
194
195 *val = 25000 / -470 - 0x4FE;
196 return IIO_VAL_INT;
197 case IIO_CHAN_INFO_CALIBBIAS:
198 switch (chan->type) {
199 case IIO_ACCEL:
200 bits = 14;
201 break;
202 default:
203 return -EINVAL;
204 }
205 addr = adis16209_addresses[chan->scan_index][0];
206 ret = adis_read_reg_16(st, addr, &val16);
207 if (ret)
208 return ret;
209
210 *val = sign_extend32(val16, bits - 1);
211 return IIO_VAL_INT;
212 }
213 return -EINVAL;
214}
215
216static const struct iio_chan_spec adis16209_channels[] = {
217 ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY,
218 0, 14),
219 ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12),
220 ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X,
221 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
222 ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y,
223 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
224 ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12),
225 ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X,
226 0, 0, 14),
227 ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y,
228 0, 0, 14),
229 ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14),
230 IIO_CHAN_SOFT_TIMESTAMP(8)
231};
232
233static const struct iio_info adis16209_info = {
234 .read_raw = adis16209_read_raw,
235 .write_raw = adis16209_write_raw,
236 .update_scan_mode = adis_update_scan_mode,
237};
238
239static const char * const adis16209_status_error_msgs[] = {
240 [ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
241 [ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure",
242 [ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
243 [ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
244 [ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
245};
246
247static const struct adis_data adis16209_data = {
248 .read_delay = 30,
249 .msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
250 .glob_cmd_reg = ADIS16209_CMD_REG,
251 .diag_stat_reg = ADIS16209_STAT_REG,
252
253 .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
254 .self_test_no_autoclear = true,
255 .startup_delay = ADIS16209_STARTUP_DELAY_MS,
256
257 .status_error_msgs = adis16209_status_error_msgs,
258 .status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
259 BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
260 BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
261 BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
262 BIT(ADIS16209_STAT_POWER_LOW_BIT),
263};
264
265static int adis16209_probe(struct spi_device *spi)
266{
267 struct iio_dev *indio_dev;
268 struct adis *st;
269 int ret;
270
271 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
272 if (!indio_dev)
273 return -ENOMEM;
274
275 st = iio_priv(indio_dev);
276 spi_set_drvdata(spi, indio_dev);
277
278 indio_dev->name = spi->dev.driver->name;
279 indio_dev->dev.parent = &spi->dev;
280 indio_dev->info = &adis16209_info;
281 indio_dev->channels = adis16209_channels;
282 indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
283 indio_dev->modes = INDIO_DIRECT_MODE;
284
285 ret = adis_init(st, indio_dev, spi, &adis16209_data);
286 if (ret)
287 return ret;
288
289 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
290 if (ret)
291 return ret;
292
293 ret = adis_initial_startup(st);
294 if (ret)
295 goto error_cleanup_buffer_trigger;
296 ret = iio_device_register(indio_dev);
297 if (ret)
298 goto error_cleanup_buffer_trigger;
299
300 return 0;
301
302error_cleanup_buffer_trigger:
303 adis_cleanup_buffer_and_trigger(st, indio_dev);
304 return ret;
305}
306
307static int adis16209_remove(struct spi_device *spi)
308{
309 struct iio_dev *indio_dev = spi_get_drvdata(spi);
310 struct adis *st = iio_priv(indio_dev);
311
312 iio_device_unregister(indio_dev);
313 adis_cleanup_buffer_and_trigger(st, indio_dev);
314
315 return 0;
316}
317
318static struct spi_driver adis16209_driver = {
319 .driver = {
320 .name = "adis16209",
321 },
322 .probe = adis16209_probe,
323 .remove = adis16209_remove,
324};
325module_spi_driver(adis16209_driver);
326
327MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
328MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
329MODULE_LICENSE("GPL v2");
330MODULE_ALIAS("spi:adis16209");
331
