1// SPDX-License-Identifier: GPL-2.0-or-later
2/*
3 * ADIS16209 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/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/* Data Output Register Definitions */
23#define ADIS16209_SUPPLY_OUT_REG	0x02
24#define ADIS16209_XACCL_OUT_REG		0x04
25#define ADIS16209_YACCL_OUT_REG		0x06
26/* Output, auxiliary ADC input */
27#define ADIS16209_AUX_ADC_REG		0x08
28/* Output, temperature */
29#define ADIS16209_TEMP_OUT_REG		0x0A
30/* Output, +/- 90 degrees X-axis inclination */
31#define ADIS16209_XINCL_OUT_REG		0x0C
32#define ADIS16209_YINCL_OUT_REG		0x0E
33/* Output, +/-180 vertical rotational position */
34#define ADIS16209_ROT_OUT_REG		0x10
35
36/*
37 * Calibration Register Definitions.
38 * Acceleration, inclination or rotation offset null.
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/* Alarm Register Definitions */
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/* Data-ready polarity: 1 = active high, 0 = active low */
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/* Power supply above 3.625 V */
74#define  ADIS16209_STAT_POWER_HIGH_BIT		1
75/* Power supply below 2.975 V */
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; /* 0.30518 mV */
154				break;
155			case 1:
156				*val2 = 610500; /* 0.6105 mV */
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			 * IIO base unit for sensitivity of accelerometer
169			 * is milli g.
170			 * 1 LSB represents 0.244 mg.
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			 * IIO base units for rotation are degrees.
179			 * 1 LSB represents 0.025 milli degrees.
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		 * The raw ADC value is 0x4FE when the temperature
191		 * is 45 degrees and the scale factor per milli
192		 * degree celcius is -470.
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_timeout adis16209_timeouts = {
247	.reset_ms = ADIS16209_STARTUP_DELAY_MS,
248	.self_test_ms = ADIS16209_STARTUP_DELAY_MS,
249	.sw_reset_ms = ADIS16209_STARTUP_DELAY_MS,
250};
251
252static const struct adis_data adis16209_data = {
253	.read_delay = 30,
254	.msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
255	.glob_cmd_reg = ADIS16209_CMD_REG,
256	.diag_stat_reg = ADIS16209_STAT_REG,
257
258	.self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
259	.self_test_reg = ADIS16209_MSC_CTRL_REG,
260	.self_test_no_autoclear = true,
261	.timeouts = &adis16209_timeouts,
262
263	.status_error_msgs = adis16209_status_error_msgs,
264	.status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
265		BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
266		BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
267		BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
268		BIT(ADIS16209_STAT_POWER_LOW_BIT),
269};
270
271static int adis16209_probe(struct spi_device *spi)
272{
273	struct iio_dev *indio_dev;
274	struct adis *st;
275	int ret;
276
277	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
278	if (!indio_dev)
279		return -ENOMEM;
280
281	st = iio_priv(indio_dev);
282	spi_set_drvdata(spi, indio_dev);
283
284	indio_dev->name = spi->dev.driver->name;
285	indio_dev->info = &adis16209_info;
286	indio_dev->channels = adis16209_channels;
287	indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
288	indio_dev->modes = INDIO_DIRECT_MODE;
289
290	ret = adis_init(st, indio_dev, spi, &adis16209_data);
291	if (ret)
292		return ret;
293
294	ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
295	if (ret)
296		return ret;
297
298	ret = adis_initial_startup(st);
299	if (ret)
300		return ret;
301
302	return devm_iio_device_register(&spi->dev, indio_dev);
303}
304
305static struct spi_driver adis16209_driver = {
306	.driver = {
307		.name = "adis16209",
308	},
309	.probe = adis16209_probe,
310};
311module_spi_driver(adis16209_driver);
312
313MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
314MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
315MODULE_LICENSE("GPL v2");
316MODULE_ALIAS("spi:adis16209");
317MODULE_IMPORT_NS(IIO_ADISLIB);
318