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/spi/spi.h>
12
13#include <linux/iio/iio.h>
14#include <linux/iio/imu/adis.h>
15
16#define ADIS16201_STARTUP_DELAY_MS			220
17#define ADIS16201_FLASH_CNT				0x00
18
19/* Data Output Register Information */
20#define ADIS16201_SUPPLY_OUT_REG			0x02
21#define ADIS16201_XACCL_OUT_REG				0x04
22#define ADIS16201_YACCL_OUT_REG				0x06
23#define ADIS16201_AUX_ADC_REG				0x08
24#define ADIS16201_TEMP_OUT_REG				0x0A
25#define ADIS16201_XINCL_OUT_REG				0x0C
26#define ADIS16201_YINCL_OUT_REG				0x0E
27
28/* Calibration Register Definition */
29#define ADIS16201_XACCL_OFFS_REG			0x10
30#define ADIS16201_YACCL_OFFS_REG			0x12
31#define ADIS16201_XACCL_SCALE_REG			0x14
32#define ADIS16201_YACCL_SCALE_REG			0x16
33#define ADIS16201_XINCL_OFFS_REG			0x18
34#define ADIS16201_YINCL_OFFS_REG			0x1A
35#define ADIS16201_XINCL_SCALE_REG			0x1C
36#define ADIS16201_YINCL_SCALE_REG			0x1E
37
38/* Alarm Register Definition */
39#define ADIS16201_ALM_MAG1_REG				0x20
40#define ADIS16201_ALM_MAG2_REG				0x22
41#define ADIS16201_ALM_SMPL1_REG				0x24
42#define ADIS16201_ALM_SMPL2_REG				0x26
43#define ADIS16201_ALM_CTRL_REG				0x28
44
45#define ADIS16201_AUX_DAC_REG				0x30
46#define ADIS16201_GPIO_CTRL_REG				0x32
47#define ADIS16201_SMPL_PRD_REG				0x36
48/* Operation, filter configuration */
49#define ADIS16201_AVG_CNT_REG				0x38
50#define ADIS16201_SLP_CNT_REG				0x3A
51
52/* Miscellaneous Control Register Definition */
53#define ADIS16201_MSC_CTRL_REG				0x34
54#define  ADIS16201_MSC_CTRL_SELF_TEST_EN		BIT(8)
55/* Data-ready enable: 1 = enabled, 0 = disabled */
56#define  ADIS16201_MSC_CTRL_DATA_RDY_EN			BIT(2)
57/* Data-ready polarity: 1 = active high, 0 = active low */
58#define  ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH	BIT(1)
59/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
60#define  ADIS16201_MSC_CTRL_DATA_RDY_DIO1		BIT(0)
61
62/* Diagnostics System Status Register Definition */
63#define ADIS16201_DIAG_STAT_REG				0x3C
64#define  ADIS16201_DIAG_STAT_ALARM2			BIT(9)
65#define  ADIS16201_DIAG_STAT_ALARM1			BIT(8)
66#define  ADIS16201_DIAG_STAT_SPI_FAIL_BIT		3
67#define  ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT		2
68/* Power supply above 3.625 V */
69#define  ADIS16201_DIAG_STAT_POWER_HIGH_BIT		1
70/* Power supply below 2.975 V */
71#define  ADIS16201_DIAG_STAT_POWER_LOW_BIT		0
72
73/* System Command Register Definition */
74#define ADIS16201_GLOB_CMD_REG				0x3E
75#define  ADIS16201_GLOB_CMD_SW_RESET			BIT(7)
76#define  ADIS16201_GLOB_CMD_FACTORY_RESET		BIT(1)
77
78#define ADIS16201_ERROR_ACTIVE				BIT(14)
79
80enum adis16201_scan {
81	ADIS16201_SCAN_ACC_X,
82	ADIS16201_SCAN_ACC_Y,
83	ADIS16201_SCAN_INCLI_X,
84	ADIS16201_SCAN_INCLI_Y,
85	ADIS16201_SCAN_SUPPLY,
86	ADIS16201_SCAN_AUX_ADC,
87	ADIS16201_SCAN_TEMP,
88};
89
90static const u8 adis16201_addresses[] = {
91	[ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG,
92	[ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG,
93	[ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG,
94	[ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG,
95};
96
97static int adis16201_read_raw(struct iio_dev *indio_dev,
98			      struct iio_chan_spec const *chan,
99			      int *val, int *val2,
100			      long mask)
101{
102	struct adis *st = iio_priv(indio_dev);
103	int ret;
104	int bits;
105	u8 addr;
106	s16 val16;
107
108	switch (mask) {
109	case IIO_CHAN_INFO_RAW:
110		return adis_single_conversion(indio_dev, chan,
111					      ADIS16201_ERROR_ACTIVE, val);
112	case IIO_CHAN_INFO_SCALE:
113		switch (chan->type) {
114		case IIO_VOLTAGE:
115			if (chan->channel == 0) {
116			/* Voltage base units are mV hence 1.22 mV */
117				*val = 1;
118				*val2 = 220000;
119			} else {
120			/* Voltage base units are mV hence 0.61 mV */
121				*val = 0;
122				*val2 = 610000;
123			}
124			return IIO_VAL_INT_PLUS_MICRO;
125		case IIO_TEMP:
126			*val = -470;
127			*val2 = 0;
128			return IIO_VAL_INT_PLUS_MICRO;
129		case IIO_ACCEL:
130			/*
131			 * IIO base unit for sensitivity of accelerometer
132			 * is milli g.
133			 * 1 LSB represents 0.244 mg.
134			 */
135			*val = 0;
136			*val2 = IIO_G_TO_M_S_2(462400);
137			return IIO_VAL_INT_PLUS_NANO;
138		case IIO_INCLI:
139			*val = 0;
140			*val2 = 100000;
141			return IIO_VAL_INT_PLUS_MICRO;
142		default:
143			return -EINVAL;
144		}
145		break;
146	case IIO_CHAN_INFO_OFFSET:
147		/*
148		 * The raw ADC value is 1278 when the temperature
149		 * is 25 degrees and the scale factor per milli
150		 * degree celcius is -470.
151		 */
152		*val = 25000 / -470 - 1278;
153		return IIO_VAL_INT;
154	case IIO_CHAN_INFO_CALIBBIAS:
155		switch (chan->type) {
156		case IIO_ACCEL:
157			bits = 12;
158			break;
159		case IIO_INCLI:
160			bits = 9;
161			break;
162		default:
163			return -EINVAL;
164		}
165		addr = adis16201_addresses[chan->scan_index];
166		ret = adis_read_reg_16(st, addr, &val16);
167		if (ret)
168			return ret;
169
170		*val = sign_extend32(val16, bits - 1);
171		return IIO_VAL_INT;
172	}
173
174	return -EINVAL;
175}
176
177static int adis16201_write_raw(struct iio_dev *indio_dev,
178			       struct iio_chan_spec const *chan,
179			       int val,
180			       int val2,
181			       long mask)
182{
183	struct adis *st = iio_priv(indio_dev);
184	int m;
185
186	if (mask != IIO_CHAN_INFO_CALIBBIAS)
187		return -EINVAL;
188
189	switch (chan->type) {
190	case IIO_ACCEL:
191		m = GENMASK(11, 0);
192		break;
193	case IIO_INCLI:
194		m = GENMASK(8, 0);
195		break;
196	default:
197		return -EINVAL;
198	}
199
200	return adis_write_reg_16(st, adis16201_addresses[chan->scan_index],
201				 val & m);
202}
203
204static const struct iio_chan_spec adis16201_channels[] = {
205	ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0,
206			 12),
207	ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
208	ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X,
209			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
210	ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y,
211			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
212	ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12),
213	ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X,
214			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
215	ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y,
216			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
217	IIO_CHAN_SOFT_TIMESTAMP(7)
218};
219
220static const struct iio_info adis16201_info = {
221	.read_raw = adis16201_read_raw,
222	.write_raw = adis16201_write_raw,
223	.update_scan_mode = adis_update_scan_mode,
224};
225
226static const char * const adis16201_status_error_msgs[] = {
227	[ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
228	[ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
229	[ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
230	[ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
231};
232
233static const struct adis_timeout adis16201_timeouts = {
234	.reset_ms = ADIS16201_STARTUP_DELAY_MS,
235	.sw_reset_ms = ADIS16201_STARTUP_DELAY_MS,
236	.self_test_ms = ADIS16201_STARTUP_DELAY_MS,
237};
238
239static const struct adis_data adis16201_data = {
240	.read_delay = 20,
241	.msc_ctrl_reg = ADIS16201_MSC_CTRL_REG,
242	.glob_cmd_reg = ADIS16201_GLOB_CMD_REG,
243	.diag_stat_reg = ADIS16201_DIAG_STAT_REG,
244
245	.self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
246	.self_test_reg = ADIS16201_MSC_CTRL_REG,
247	.self_test_no_autoclear = true,
248	.timeouts = &adis16201_timeouts,
249
250	.status_error_msgs = adis16201_status_error_msgs,
251	.status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
252		BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
253		BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
254		BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
255};
256
257static int adis16201_probe(struct spi_device *spi)
258{
259	struct iio_dev *indio_dev;
260	struct adis *st;
261	int ret;
262
263	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
264	if (!indio_dev)
265		return -ENOMEM;
266
267	st = iio_priv(indio_dev);
268
269	indio_dev->name = spi->dev.driver->name;
270	indio_dev->info = &adis16201_info;
271
272	indio_dev->channels = adis16201_channels;
273	indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
274	indio_dev->modes = INDIO_DIRECT_MODE;
275
276	ret = adis_init(st, indio_dev, spi, &adis16201_data);
277	if (ret)
278		return ret;
279
280	ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
281	if (ret)
282		return ret;
283
284	ret = __adis_initial_startup(st);
285	if (ret)
286		return ret;
287
288	return devm_iio_device_register(&spi->dev, indio_dev);
289}
290
291static struct spi_driver adis16201_driver = {
292	.driver = {
293		.name = "adis16201",
294	},
295	.probe = adis16201_probe,
296};
297module_spi_driver(adis16201_driver);
298
299MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
300MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
301MODULE_LICENSE("GPL v2");
302MODULE_ALIAS("spi:adis16201");
303MODULE_IMPORT_NS(IIO_ADISLIB);
304