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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
23#define ADIS16209_SUPPLY_OUT_REG 0x02
24#define ADIS16209_XACCL_OUT_REG 0x04
25#define ADIS16209_YACCL_OUT_REG 0x06
26
27#define ADIS16209_AUX_ADC_REG 0x08
28
29#define ADIS16209_TEMP_OUT_REG 0x0A
30
31#define ADIS16209_XINCL_OUT_REG 0x0C
32#define ADIS16209_YINCL_OUT_REG 0x0E
33
34#define ADIS16209_ROT_OUT_REG 0x10
35
36
37
38
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
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
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
74#define ADIS16209_STAT_POWER_HIGH_BIT 1
75
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
85enum 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
96static 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
107static 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
132static 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;
154 break;
155 case 1:
156 *val2 = 610500;
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
169
170
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
179
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
191
192
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
215static 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
232static 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
238static 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
246static const struct adis_data adis16209_data = {
247 .read_delay = 30,
248 .msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
249 .glob_cmd_reg = ADIS16209_CMD_REG,
250 .diag_stat_reg = ADIS16209_STAT_REG,
251
252 .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
253 .self_test_no_autoclear = true,
254 .startup_delay = ADIS16209_STARTUP_DELAY_MS,
255
256 .status_error_msgs = adis16209_status_error_msgs,
257 .status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
258 BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
259 BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
260 BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
261 BIT(ADIS16209_STAT_POWER_LOW_BIT),
262};
263
264static int adis16209_probe(struct spi_device *spi)
265{
266 struct iio_dev *indio_dev;
267 struct adis *st;
268 int ret;
269
270 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
271 if (!indio_dev)
272 return -ENOMEM;
273
274 st = iio_priv(indio_dev);
275 spi_set_drvdata(spi, indio_dev);
276
277 indio_dev->name = spi->dev.driver->name;
278 indio_dev->dev.parent = &spi->dev;
279 indio_dev->info = &adis16209_info;
280 indio_dev->channels = adis16209_channels;
281 indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
282 indio_dev->modes = INDIO_DIRECT_MODE;
283
284 ret = adis_init(st, indio_dev, spi, &adis16209_data);
285 if (ret)
286 return ret;
287
288 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
289 if (ret)
290 return ret;
291
292 ret = adis_initial_startup(st);
293 if (ret)
294 goto error_cleanup_buffer_trigger;
295 ret = iio_device_register(indio_dev);
296 if (ret)
297 goto error_cleanup_buffer_trigger;
298
299 return 0;
300
301error_cleanup_buffer_trigger:
302 adis_cleanup_buffer_and_trigger(st, indio_dev);
303 return ret;
304}
305
306static int adis16209_remove(struct spi_device *spi)
307{
308 struct iio_dev *indio_dev = spi_get_drvdata(spi);
309 struct adis *st = iio_priv(indio_dev);
310
311 iio_device_unregister(indio_dev);
312 adis_cleanup_buffer_and_trigger(st, indio_dev);
313
314 return 0;
315}
316
317static struct spi_driver adis16209_driver = {
318 .driver = {
319 .name = "adis16209",
320 },
321 .probe = adis16209_probe,
322 .remove = adis16209_remove,
323};
324module_spi_driver(adis16209_driver);
325
326MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
327MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
328MODULE_LICENSE("GPL v2");
329MODULE_ALIAS("spi:adis16209");
330
