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/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/* Data Output Register Definitions */
20#define ADIS16209_SUPPLY_OUT_REG	0x02
21#define ADIS16209_XACCL_OUT_REG		0x04
22#define ADIS16209_YACCL_OUT_REG		0x06
23/* Output, auxiliary ADC input */
24#define ADIS16209_AUX_ADC_REG		0x08
25/* Output, temperature */
26#define ADIS16209_TEMP_OUT_REG		0x0A
27/* Output, +/- 90 degrees X-axis inclination */
28#define ADIS16209_XINCL_OUT_REG		0x0C
29#define ADIS16209_YINCL_OUT_REG		0x0E
30/* Output, +/-180 vertical rotational position */
31#define ADIS16209_ROT_OUT_REG		0x10
32
33/*
34 * Calibration Register Definitions.
35 * Acceleration, inclination or rotation offset null.
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/* Alarm Register Definitions */
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/* Data-ready polarity: 1 = active high, 0 = active low */
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/* Power supply above 3.625 V */
71#define  ADIS16209_STAT_POWER_HIGH_BIT		1
72/* Power supply below 2.975 V */
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; /* 0.30518 mV */
151				break;
152			case 1:
153				*val2 = 610500; /* 0.6105 mV */
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			 * IIO base unit for sensitivity of accelerometer
166			 * is milli g.
167			 * 1 LSB represents 0.244 mg.
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			 * IIO base units for rotation are degrees.
176			 * 1 LSB represents 0.025 milli degrees.
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		 * The raw ADC value is 0x4FE when the temperature
188		 * is 45 degrees and the scale factor per milli
189		 * degree celcius is -470.
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");
313MODULE_IMPORT_NS(IIO_ADISLIB);
314