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9#include <linux/delay.h>
10#include <linux/mutex.h>
11#include <linux/device.h>
12#include <linux/kernel.h>
13#include <linux/spi/spi.h>
14#include <linux/slab.h>
15#include <linux/sysfs.h>
16#include <linux/module.h>
17
18#include <linux/iio/iio.h>
19#include <linux/iio/sysfs.h>
20#include <linux/iio/buffer.h>
21#include <linux/iio/imu/adis.h>
22
23#include "adis16201.h"
24
25static const u8 adis16201_addresses[] = {
26 [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS,
27 [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS,
28 [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS,
29 [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS,
30};
31
32static int adis16201_read_raw(struct iio_dev *indio_dev,
33 struct iio_chan_spec const *chan,
34 int *val, int *val2,
35 long mask)
36{
37 struct adis *st = iio_priv(indio_dev);
38 int ret;
39 int bits;
40 u8 addr;
41 s16 val16;
42
43 switch (mask) {
44 case IIO_CHAN_INFO_RAW:
45 return adis_single_conversion(indio_dev, chan,
46 ADIS16201_ERROR_ACTIVE, val);
47 case IIO_CHAN_INFO_SCALE:
48 switch (chan->type) {
49 case IIO_VOLTAGE:
50 if (chan->channel == 0) {
51 *val = 1;
52 *val2 = 220000;
53 } else {
54 *val = 0;
55 *val2 = 610000;
56 }
57 return IIO_VAL_INT_PLUS_MICRO;
58 case IIO_TEMP:
59 *val = -470;
60 *val2 = 0;
61 return IIO_VAL_INT_PLUS_MICRO;
62 case IIO_ACCEL:
63 *val = 0;
64 *val2 = IIO_G_TO_M_S_2(462400);
65 return IIO_VAL_INT_PLUS_NANO;
66 case IIO_INCLI:
67 *val = 0;
68 *val2 = 100000;
69 return IIO_VAL_INT_PLUS_MICRO;
70 default:
71 return -EINVAL;
72 }
73 break;
74 case IIO_CHAN_INFO_OFFSET:
75 *val = 25000 / -470 - 1278;
76 return IIO_VAL_INT;
77 case IIO_CHAN_INFO_CALIBBIAS:
78 switch (chan->type) {
79 case IIO_ACCEL:
80 bits = 12;
81 break;
82 case IIO_INCLI:
83 bits = 9;
84 break;
85 default:
86 return -EINVAL;
87 }
88 mutex_lock(&indio_dev->mlock);
89 addr = adis16201_addresses[chan->scan_index];
90 ret = adis_read_reg_16(st, addr, &val16);
91 if (ret) {
92 mutex_unlock(&indio_dev->mlock);
93 return ret;
94 }
95 val16 &= (1 << bits) - 1;
96 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
97 *val = val16;
98 mutex_unlock(&indio_dev->mlock);
99 return IIO_VAL_INT;
100 }
101 return -EINVAL;
102}
103
104static int adis16201_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 bits;
112 s16 val16;
113 u8 addr;
114
115 switch (mask) {
116 case IIO_CHAN_INFO_CALIBBIAS:
117 switch (chan->type) {
118 case IIO_ACCEL:
119 bits = 12;
120 break;
121 case IIO_INCLI:
122 bits = 9;
123 break;
124 default:
125 return -EINVAL;
126 }
127 val16 = val & ((1 << bits) - 1);
128 addr = adis16201_addresses[chan->scan_index];
129 return adis_write_reg_16(st, addr, val16);
130 }
131 return -EINVAL;
132}
133
134static const struct iio_chan_spec adis16201_channels[] = {
135 ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT, ADIS16201_SCAN_SUPPLY, 0, 12),
136 ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT, ADIS16201_SCAN_TEMP, 0, 12),
137 ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT, ADIS16201_SCAN_ACC_X,
138 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
139 ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT, ADIS16201_SCAN_ACC_Y,
140 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
141 ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC, ADIS16201_SCAN_AUX_ADC, 0, 12),
142 ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT, ADIS16201_SCAN_INCLI_X,
143 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
144 ADIS_INCLI_CHAN(X, ADIS16201_YINCL_OUT, ADIS16201_SCAN_INCLI_Y,
145 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
146 IIO_CHAN_SOFT_TIMESTAMP(7)
147};
148
149static const struct iio_info adis16201_info = {
150 .read_raw = &adis16201_read_raw,
151 .write_raw = &adis16201_write_raw,
152 .update_scan_mode = adis_update_scan_mode,
153 .driver_module = THIS_MODULE,
154};
155
156static const char * const adis16201_status_error_msgs[] = {
157 [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
158 [ADIS16201_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
159 [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
160 [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
161};
162
163static const struct adis_data adis16201_data = {
164 .read_delay = 20,
165 .msc_ctrl_reg = ADIS16201_MSC_CTRL,
166 .glob_cmd_reg = ADIS16201_GLOB_CMD,
167 .diag_stat_reg = ADIS16201_DIAG_STAT,
168
169 .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
170 .startup_delay = ADIS16201_STARTUP_DELAY,
171
172 .status_error_msgs = adis16201_status_error_msgs,
173 .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
174 BIT(ADIS16201_DIAG_STAT_FLASH_UPT_BIT) |
175 BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
176 BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
177};
178
179static int adis16201_probe(struct spi_device *spi)
180{
181 int ret;
182 struct adis *st;
183 struct iio_dev *indio_dev;
184
185
186 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
187 if (!indio_dev)
188 return -ENOMEM;
189
190 st = iio_priv(indio_dev);
191
192 spi_set_drvdata(spi, indio_dev);
193
194 indio_dev->name = spi->dev.driver->name;
195 indio_dev->dev.parent = &spi->dev;
196 indio_dev->info = &adis16201_info;
197
198 indio_dev->channels = adis16201_channels;
199 indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
200 indio_dev->modes = INDIO_DIRECT_MODE;
201
202 ret = adis_init(st, indio_dev, spi, &adis16201_data);
203 if (ret)
204 return ret;
205 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
206 if (ret)
207 return ret;
208
209
210 ret = adis_initial_startup(st);
211 if (ret)
212 goto error_cleanup_buffer_trigger;
213
214 ret = iio_device_register(indio_dev);
215 if (ret < 0)
216 goto error_cleanup_buffer_trigger;
217 return 0;
218
219error_cleanup_buffer_trigger:
220 adis_cleanup_buffer_and_trigger(st, indio_dev);
221 return ret;
222}
223
224static int adis16201_remove(struct spi_device *spi)
225{
226 struct iio_dev *indio_dev = spi_get_drvdata(spi);
227 struct adis *st = iio_priv(indio_dev);
228
229 iio_device_unregister(indio_dev);
230 adis_cleanup_buffer_and_trigger(st, indio_dev);
231
232 return 0;
233}
234
235static struct spi_driver adis16201_driver = {
236 .driver = {
237 .name = "adis16201",
238 },
239 .probe = adis16201_probe,
240 .remove = adis16201_remove,
241};
242module_spi_driver(adis16201_driver);
243
244MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
245MODULE_DESCRIPTION("Analog Devices ADIS16201 Programmable Digital Vibration Sensor driver");
246MODULE_LICENSE("GPL v2");
247MODULE_ALIAS("spi:adis16201");
248
