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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
20#define ADIS16209_SUPPLY_OUT_REG 0x02
21#define ADIS16209_XACCL_OUT_REG 0x04
22#define ADIS16209_YACCL_OUT_REG 0x06
23
24#define ADIS16209_AUX_ADC_REG 0x08
25
26#define ADIS16209_TEMP_OUT_REG 0x0A
27
28#define ADIS16209_XINCL_OUT_REG 0x0C
29#define ADIS16209_YINCL_OUT_REG 0x0E
30
31#define ADIS16209_ROT_OUT_REG 0x10
32
33
34
35
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
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
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
71#define ADIS16209_STAT_POWER_HIGH_BIT 1
72
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
82enum 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
93static 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
104static 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
129static 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;
151 break;
152 case 1:
153 *val2 = 610500;
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
166
167
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
176
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
188
189
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
212static 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
229static 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
235static 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
243static 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
249static 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
268static 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
301static struct spi_driver adis16209_driver = {
302 .driver = {
303 .name = "adis16209",
304 },
305 .probe = adis16209_probe,
306};
307module_spi_driver(adis16209_driver);
308
309MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
310MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
311MODULE_LICENSE("GPL v2");
312MODULE_ALIAS("spi:adis16209");
313
