1// SPDX-License-Identifier: GPL-2.0-or-later
2/*
3 * ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer
4 *
5 * Copyright 2010 Analog Devices Inc.
6 */
7
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/* Data Output Register Information */
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/* Calibration Register Definition */
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/* Alarm Register Definition */
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/* Operation, filter configuration */
52#define ADIS16201_AVG_CNT_REG				0x38
53#define ADIS16201_SLP_CNT_REG				0x3A
54
55/* Miscellaneous Control Register Definition */
56#define ADIS16201_MSC_CTRL_REG				0x34
57#define  ADIS16201_MSC_CTRL_SELF_TEST_EN		BIT(8)
58/* Data-ready enable: 1 = enabled, 0 = disabled */
59#define  ADIS16201_MSC_CTRL_DATA_RDY_EN			BIT(2)
60/* Data-ready polarity: 1 = active high, 0 = active low */
61#define  ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH	BIT(1)
62/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
63#define  ADIS16201_MSC_CTRL_DATA_RDY_DIO1		BIT(0)
64
65/* Diagnostics System Status Register Definition */
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/* Power supply above 3.625 V */
72#define  ADIS16201_DIAG_STAT_POWER_HIGH_BIT		1
73/* Power supply below 2.975 V */
74#define  ADIS16201_DIAG_STAT_POWER_LOW_BIT		0
75
76/* System Command Register Definition */
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			/* Voltage base units are mV hence 1.22 mV */
120				*val = 1;
121				*val2 = 220000;
122			} else {
123			/* Voltage base units are mV hence 0.61 mV */
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			 * IIO base unit for sensitivity of accelerometer
135			 * is milli g.
136			 * 1 LSB represents 0.244 mg.
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		 * The raw ADC value is 1278 when the temperature
152		 * is 25 degrees and the scale factor per milli
153		 * degree celcius is -470.
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(Y, 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 2.975V",
234};
235
236static const struct adis_timeout adis16201_timeouts = {
237	.reset_ms = ADIS16201_STARTUP_DELAY_MS,
238	.sw_reset_ms = ADIS16201_STARTUP_DELAY_MS,
239	.self_test_ms = ADIS16201_STARTUP_DELAY_MS,
240};
241
242static const struct adis_data adis16201_data = {
243	.read_delay = 20,
244	.msc_ctrl_reg = ADIS16201_MSC_CTRL_REG,
245	.glob_cmd_reg = ADIS16201_GLOB_CMD_REG,
246	.diag_stat_reg = ADIS16201_DIAG_STAT_REG,
247
248	.self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
249	.self_test_reg = ADIS16201_MSC_CTRL_REG,
250	.self_test_no_autoclear = true,
251	.timeouts = &adis16201_timeouts,
252
253	.status_error_msgs = adis16201_status_error_msgs,
254	.status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
255		BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
256		BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
257		BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
258};
259
260static int adis16201_probe(struct spi_device *spi)
261{
262	struct iio_dev *indio_dev;
263	struct adis *st;
264	int ret;
265
266	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
267	if (!indio_dev)
268		return -ENOMEM;
269
270	st = iio_priv(indio_dev);
271	spi_set_drvdata(spi, indio_dev);
272
273	indio_dev->name = spi->dev.driver->name;
274	indio_dev->info = &adis16201_info;
275
276	indio_dev->channels = adis16201_channels;
277	indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
278	indio_dev->modes = INDIO_DIRECT_MODE;
279
280	ret = adis_init(st, indio_dev, spi, &adis16201_data);
281	if (ret)
282		return ret;
283
284	ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
285	if (ret)
286		return ret;
287
288	ret = adis_initial_startup(st);
289	if (ret)
290		return ret;
291
292	return devm_iio_device_register(&spi->dev, indio_dev);
293}
294
295static struct spi_driver adis16201_driver = {
296	.driver = {
297		.name = "adis16201",
298	},
299	.probe = adis16201_probe,
300};
301module_spi_driver(adis16201_driver);
302
303MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
304MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
305MODULE_LICENSE("GPL v2");
306MODULE_ALIAS("spi:adis16201");
307MODULE_IMPORT_NS(IIO_ADISLIB);
308