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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
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
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
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
52#define ADIS16201_AVG_CNT_REG 0x38
53#define ADIS16201_SLP_CNT_REG 0x3A
54
55
56#define ADIS16201_MSC_CTRL_REG 0x34
57#define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8)
58
59#define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2)
60
61#define ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH BIT(1)
62
63#define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
64
65
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
72#define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1
73
74#define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0
75
76
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
83enum 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
93static 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
100static 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
120 *val = 1;
121 *val2 = 220000;
122 } else {
123
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
135
136
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
152
153
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
180static 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
207static 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
223static 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
229static 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 3.15V",
234};
235
236static 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
253static 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
292error_cleanup_buffer_trigger:
293 adis_cleanup_buffer_and_trigger(st, indio_dev);
294 return ret;
295}
296
297static 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
308static struct spi_driver adis16201_driver = {
309 .driver = {
310 .name = "adis16201",
311 },
312 .probe = adis16201_probe,
313 .remove = adis16201_remove,
314};
315module_spi_driver(adis16201_driver);
316
317MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
318MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
319MODULE_LICENSE("GPL v2");
320MODULE_ALIAS("spi:adis16201");
321
