// SPDX-License-Identifier: GPL-2.0+
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/*
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* ADIS16203 Programmable 360 Degrees Inclinometer
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*
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* Copyright 2010 Analog Devices Inc.
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*/
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#include <linux/delay.h>
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#include <linux/device.h>
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#include <linux/iio/buffer.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/imu/adis.h>
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#include <linux/iio/sysfs.h>
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#include <linux/kernel.h>
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#include <linux/module.h>
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#include <linux/mutex.h>
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#include <linux/slab.h>
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#include <linux/spi/spi.h>
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#include <linux/sysfs.h>
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#define ADIS16203_STARTUP_DELAY 220 /* ms */
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/* Flash memory write count */
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#define ADIS16203_FLASH_CNT 0x00
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/* Output, power supply */
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#define ADIS16203_SUPPLY_OUT 0x02
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/* Output, auxiliary ADC input */
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#define ADIS16203_AUX_ADC 0x08
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/* Output, temperature */
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#define ADIS16203_TEMP_OUT 0x0A
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/* Output, x-axis inclination */
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#define ADIS16203_XINCL_OUT 0x0C
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/* Output, y-axis inclination */
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#define ADIS16203_YINCL_OUT 0x0E
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/* Incline null calibration */
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#define ADIS16203_INCL_NULL 0x18
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/* Alarm 1 amplitude threshold */
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#define ADIS16203_ALM_MAG1 0x20
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/* Alarm 2 amplitude threshold */
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#define ADIS16203_ALM_MAG2 0x22
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/* Alarm 1, sample period */
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#define ADIS16203_ALM_SMPL1 0x24
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/* Alarm 2, sample period */
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#define ADIS16203_ALM_SMPL2 0x26
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/* Alarm control */
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#define ADIS16203_ALM_CTRL 0x28
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/* Auxiliary DAC data */
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#define ADIS16203_AUX_DAC 0x30
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/* General-purpose digital input/output control */
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#define ADIS16203_GPIO_CTRL 0x32
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/* Miscellaneous control */
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#define ADIS16203_MSC_CTRL 0x34
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/* Internal sample period (rate) control */
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#define ADIS16203_SMPL_PRD 0x36
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/* Operation, filter configuration */
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#define ADIS16203_AVG_CNT 0x38
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/* Operation, sleep mode control */
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#define ADIS16203_SLP_CNT 0x3A
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/* Diagnostics, system status register */
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#define ADIS16203_DIAG_STAT 0x3C
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/* Operation, system command register */
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#define ADIS16203_GLOB_CMD 0x3E
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/* MSC_CTRL */
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/* Self-test at power-on: 1 = disabled, 0 = enabled */
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#define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
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/* Reverses rotation of both inclination outputs */
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#define ADIS16203_MSC_CTRL_REVERSE_ROT_EN BIT(9)
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/* Self-test enable */
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#define ADIS16203_MSC_CTRL_SELF_TEST_EN BIT(8)
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/* Data-ready enable: 1 = enabled, 0 = disabled */
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#define ADIS16203_MSC_CTRL_DATA_RDY_EN BIT(2)
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/* Data-ready polarity: 1 = active high, 0 = active low */
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#define ADIS16203_MSC_CTRL_ACTIVE_HIGH BIT(1)
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/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
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#define ADIS16203_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
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/* DIAG_STAT */
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/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
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#define ADIS16203_DIAG_STAT_ALARM2 BIT(9)
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/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
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#define ADIS16203_DIAG_STAT_ALARM1 BIT(8)
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/* Self-test diagnostic error flag */
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#define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
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/* SPI communications failure */
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#define ADIS16203_DIAG_STAT_SPI_FAIL_BIT 3
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/* Flash update failure */
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#define ADIS16203_DIAG_STAT_FLASH_UPT_BIT 2
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/* Power supply above 3.625 V */
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#define ADIS16203_DIAG_STAT_POWER_HIGH_BIT 1
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/* Power supply below 2.975 V */
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#define ADIS16203_DIAG_STAT_POWER_LOW_BIT 0
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/* GLOB_CMD */
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#define ADIS16203_GLOB_CMD_SW_RESET BIT(7)
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#define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4)
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#define ADIS16203_GLOB_CMD_FACTORY_CAL BIT(1)
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#define ADIS16203_ERROR_ACTIVE BIT(14)
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enum adis16203_scan {
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ADIS16203_SCAN_INCLI_X,
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ADIS16203_SCAN_INCLI_Y,
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ADIS16203_SCAN_SUPPLY,
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ADIS16203_SCAN_AUX_ADC,
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ADIS16203_SCAN_TEMP,
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};
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#define DRIVER_NAME "adis16203"
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static const u8 adis16203_addresses[] = {
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[ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
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};
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static int adis16203_write_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int val,
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int val2,
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long mask)
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{
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struct adis *st = iio_priv(indio_dev);
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/* currently only one writable parameter which keeps this simple */
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u8 addr = adis16203_addresses[chan->scan_index];
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return adis_write_reg_16(st, addr, val & 0x3FFF);
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}
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static int adis16203_read_raw(struct iio_dev *indio_dev,
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struct iio_chan_spec const *chan,
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int *val, int *val2,
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long mask)
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{
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struct adis *st = iio_priv(indio_dev);
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int ret;
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u8 addr;
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s16 val16;
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switch (mask) {
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case IIO_CHAN_INFO_RAW:
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return adis_single_conversion(indio_dev, chan,
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ADIS16203_ERROR_ACTIVE, val);
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case IIO_CHAN_INFO_SCALE:
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switch (chan->type) {
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case IIO_VOLTAGE:
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if (chan->channel == 0) {
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*val = 1;
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*val2 = 220000; /* 1.22 mV */
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} else {
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*val = 0;
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*val2 = 610000; /* 0.61 mV */
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}
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_TEMP:
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*val = -470; /* -0.47 C */
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*val2 = 0;
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return IIO_VAL_INT_PLUS_MICRO;
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case IIO_INCLI:
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*val = 0;
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*val2 = 25000; /* 0.025 degree */
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return IIO_VAL_INT_PLUS_MICRO;
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default:
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return -EINVAL;
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}
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case IIO_CHAN_INFO_OFFSET:
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*val = 25000 / -470 - 1278; /* 25 C = 1278 */
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return IIO_VAL_INT;
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case IIO_CHAN_INFO_CALIBBIAS:
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addr = adis16203_addresses[chan->scan_index];
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ret = adis_read_reg_16(st, addr, &val16);
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if (ret)
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return ret;
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*val = sign_extend32(val16, 13);
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return IIO_VAL_INT;
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default:
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return -EINVAL;
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}
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}
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static const struct iio_chan_spec adis16203_channels[] = {
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ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
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ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
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ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
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BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
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/* Fixme: Not what it appears to be - see data sheet */
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ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
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0, 0, 14),
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ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
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IIO_CHAN_SOFT_TIMESTAMP(5),
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};
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static const struct iio_info adis16203_info = {
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.read_raw = adis16203_read_raw,
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.write_raw = adis16203_write_raw,
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.update_scan_mode = adis_update_scan_mode,
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};
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static const char * const adis16203_status_error_msgs[] = {
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[ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
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[ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
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[ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
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[ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
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[ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
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};
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static const struct adis_timeout adis16203_timeouts = {
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.reset_ms = ADIS16203_STARTUP_DELAY,
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.sw_reset_ms = ADIS16203_STARTUP_DELAY,
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.self_test_ms = ADIS16203_STARTUP_DELAY
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};
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static const struct adis_data adis16203_data = {
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.read_delay = 20,
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.msc_ctrl_reg = ADIS16203_MSC_CTRL,
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.glob_cmd_reg = ADIS16203_GLOB_CMD,
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.diag_stat_reg = ADIS16203_DIAG_STAT,
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.self_test_mask = ADIS16203_MSC_CTRL_SELF_TEST_EN,
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.self_test_reg = ADIS16203_MSC_CTRL,
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.self_test_no_autoclear = true,
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.timeouts = &adis16203_timeouts,
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.status_error_msgs = adis16203_status_error_msgs,
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.status_error_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) |
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BIT(ADIS16203_DIAG_STAT_SPI_FAIL_BIT) |
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BIT(ADIS16203_DIAG_STAT_FLASH_UPT_BIT) |
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BIT(ADIS16203_DIAG_STAT_POWER_HIGH_BIT) |
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BIT(ADIS16203_DIAG_STAT_POWER_LOW_BIT),
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};
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static int adis16203_probe(struct spi_device *spi)
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{
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int ret;
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struct iio_dev *indio_dev;
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struct adis *st;
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/* setup the industrialio driver allocated elements */
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
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if (!indio_dev)
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return -ENOMEM;
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st = iio_priv(indio_dev);
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/* this is only used for removal purposes */
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spi_set_drvdata(spi, indio_dev);
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indio_dev->name = spi->dev.driver->name;
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indio_dev->channels = adis16203_channels;
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indio_dev->num_channels = ARRAY_SIZE(adis16203_channels);
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indio_dev->info = &adis16203_info;
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indio_dev->modes = INDIO_DIRECT_MODE;
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ret = adis_init(st, indio_dev, spi, &adis16203_data);
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if (ret)
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return ret;
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ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
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if (ret)
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return ret;
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/* Get the device into a sane initial state */
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ret = adis_initial_startup(st);
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if (ret)
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return ret;
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return devm_iio_device_register(&spi->dev, indio_dev);
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}
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static const struct of_device_id adis16203_of_match[] = {
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{ .compatible = "adi,adis16203" },
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{ },
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};
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MODULE_DEVICE_TABLE(of, adis16203_of_match);
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static struct spi_driver adis16203_driver = {
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.driver = {
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.name = "adis16203",
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.of_match_table = adis16203_of_match,
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},
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.probe = adis16203_probe,
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};
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module_spi_driver(adis16203_driver);
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MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
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MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
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MODULE_LICENSE("GPL v2");
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MODULE_ALIAS("spi:adis16203");
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