2 * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/delay.h>
10 #include <linux/device.h>
11 #include <linux/kernel.h>
12 #include <linux/spi/spi.h>
13 #include <linux/slab.h>
14 #include <linux/sysfs.h>
15 #include <linux/list.h>
16 #include <linux/module.h>
18 #include <linux/iio/iio.h>
19 #include <linux/iio/sysfs.h>
20 #include <linux/iio/buffer.h>
21 #include <linux/iio/imu/adis.h>
23 #define ADIS16209_STARTUP_DELAY 220 /* ms */
25 /* Flash memory write count */
26 #define ADIS16209_FLASH_CNT 0x00
28 /* Output, power supply */
29 #define ADIS16209_SUPPLY_OUT 0x02
31 /* Output, x-axis accelerometer */
32 #define ADIS16209_XACCL_OUT 0x04
34 /* Output, y-axis accelerometer */
35 #define ADIS16209_YACCL_OUT 0x06
37 /* Output, auxiliary ADC input */
38 #define ADIS16209_AUX_ADC 0x08
40 /* Output, temperature */
41 #define ADIS16209_TEMP_OUT 0x0A
43 /* Output, x-axis inclination */
44 #define ADIS16209_XINCL_OUT 0x0C
46 /* Output, y-axis inclination */
47 #define ADIS16209_YINCL_OUT 0x0E
49 /* Output, +/-180 vertical rotational position */
50 #define ADIS16209_ROT_OUT 0x10
52 /* Calibration, x-axis acceleration offset null */
53 #define ADIS16209_XACCL_NULL 0x12
55 /* Calibration, y-axis acceleration offset null */
56 #define ADIS16209_YACCL_NULL 0x14
58 /* Calibration, x-axis inclination offset null */
59 #define ADIS16209_XINCL_NULL 0x16
61 /* Calibration, y-axis inclination offset null */
62 #define ADIS16209_YINCL_NULL 0x18
64 /* Calibration, vertical rotation offset null */
65 #define ADIS16209_ROT_NULL 0x1A
67 /* Alarm 1 amplitude threshold */
68 #define ADIS16209_ALM_MAG1 0x20
70 /* Alarm 2 amplitude threshold */
71 #define ADIS16209_ALM_MAG2 0x22
73 /* Alarm 1, sample period */
74 #define ADIS16209_ALM_SMPL1 0x24
76 /* Alarm 2, sample period */
77 #define ADIS16209_ALM_SMPL2 0x26
80 #define ADIS16209_ALM_CTRL 0x28
82 /* Auxiliary DAC data */
83 #define ADIS16209_AUX_DAC 0x30
85 /* General-purpose digital input/output control */
86 #define ADIS16209_GPIO_CTRL 0x32
88 /* Miscellaneous control */
89 #define ADIS16209_MSC_CTRL 0x34
91 /* Internal sample period (rate) control */
92 #define ADIS16209_SMPL_PRD 0x36
94 /* Operation, filter configuration */
95 #define ADIS16209_AVG_CNT 0x38
97 /* Operation, sleep mode control */
98 #define ADIS16209_SLP_CNT 0x3A
100 /* Diagnostics, system status register */
101 #define ADIS16209_DIAG_STAT 0x3C
103 /* Operation, system command register */
104 #define ADIS16209_GLOB_CMD 0x3E
108 /* Self-test at power-on: 1 = disabled, 0 = enabled */
109 #define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
111 /* Self-test enable */
112 #define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8)
114 /* Data-ready enable: 1 = enabled, 0 = disabled */
115 #define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2)
117 /* Data-ready polarity: 1 = active high, 0 = active low */
118 #define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1)
120 /* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
121 #define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
125 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
126 #define ADIS16209_DIAG_STAT_ALARM2 BIT(9)
128 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
129 #define ADIS16209_DIAG_STAT_ALARM1 BIT(8)
131 /* Self-test diagnostic error flag: 1 = error condition, 0 = normal operation */
132 #define ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT 5
134 /* SPI communications failure */
135 #define ADIS16209_DIAG_STAT_SPI_FAIL_BIT 3
137 /* Flash update failure */
138 #define ADIS16209_DIAG_STAT_FLASH_UPT_BIT 2
140 /* Power supply above 3.625 V */
141 #define ADIS16209_DIAG_STAT_POWER_HIGH_BIT 1
143 /* Power supply below 3.15 V */
144 #define ADIS16209_DIAG_STAT_POWER_LOW_BIT 0
148 #define ADIS16209_GLOB_CMD_SW_RESET BIT(7)
149 #define ADIS16209_GLOB_CMD_CLEAR_STAT BIT(4)
150 #define ADIS16209_GLOB_CMD_FACTORY_CAL BIT(1)
152 #define ADIS16209_ERROR_ACTIVE BIT(14)
154 enum adis16209_scan {
155 ADIS16209_SCAN_SUPPLY,
156 ADIS16209_SCAN_ACC_X,
157 ADIS16209_SCAN_ACC_Y,
158 ADIS16209_SCAN_AUX_ADC,
160 ADIS16209_SCAN_INCLI_X,
161 ADIS16209_SCAN_INCLI_Y,
165 static const u8 adis16209_addresses[8][1] = {
166 [ADIS16209_SCAN_SUPPLY] = { },
167 [ADIS16209_SCAN_AUX_ADC] = { },
168 [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL },
169 [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL },
170 [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL },
171 [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL },
172 [ADIS16209_SCAN_ROT] = { },
173 [ADIS16209_SCAN_TEMP] = { },
176 static int adis16209_write_raw(struct iio_dev *indio_dev,
177 struct iio_chan_spec const *chan,
182 struct adis *st = iio_priv(indio_dev);
188 case IIO_CHAN_INFO_CALIBBIAS:
189 switch (chan->type) {
197 val16 = val & ((1 << bits) - 1);
198 addr = adis16209_addresses[chan->scan_index][0];
199 return adis_write_reg_16(st, addr, val16);
204 static int adis16209_read_raw(struct iio_dev *indio_dev,
205 struct iio_chan_spec const *chan,
209 struct adis *st = iio_priv(indio_dev);
216 case IIO_CHAN_INFO_RAW:
217 return adis_single_conversion(indio_dev, chan,
218 ADIS16209_ERROR_ACTIVE, val);
219 case IIO_CHAN_INFO_SCALE:
220 switch (chan->type) {
223 if (chan->channel == 0)
224 *val2 = 305180; /* 0.30518 mV */
226 *val2 = 610500; /* 0.6105 mV */
227 return IIO_VAL_INT_PLUS_MICRO;
229 *val = -470; /* -0.47 C */
231 return IIO_VAL_INT_PLUS_MICRO;
234 *val2 = IIO_G_TO_M_S_2(244140); /* 0.244140 mg */
235 return IIO_VAL_INT_PLUS_NANO;
239 *val2 = 25000; /* 0.025 degree */
240 return IIO_VAL_INT_PLUS_MICRO;
245 case IIO_CHAN_INFO_OFFSET:
246 *val = 25000 / -470 - 0x4FE; /* 25 C = 0x4FE */
248 case IIO_CHAN_INFO_CALIBBIAS:
249 switch (chan->type) {
256 addr = adis16209_addresses[chan->scan_index][0];
257 ret = adis_read_reg_16(st, addr, &val16);
260 val16 &= (1 << bits) - 1;
261 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
268 static const struct iio_chan_spec adis16209_channels[] = {
269 ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT, ADIS16209_SCAN_SUPPLY, 0, 14),
270 ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT, ADIS16209_SCAN_TEMP, 0, 12),
271 ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT, ADIS16209_SCAN_ACC_X,
272 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
273 ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT, ADIS16209_SCAN_ACC_Y,
274 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
275 ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC, ADIS16209_SCAN_AUX_ADC, 0, 12),
276 ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT, ADIS16209_SCAN_INCLI_X,
278 ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT, ADIS16209_SCAN_INCLI_Y,
280 ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT, ADIS16209_SCAN_ROT, 0, 0, 14),
281 IIO_CHAN_SOFT_TIMESTAMP(8)
284 static const struct iio_info adis16209_info = {
285 .read_raw = adis16209_read_raw,
286 .write_raw = adis16209_write_raw,
287 .update_scan_mode = adis_update_scan_mode,
288 .driver_module = THIS_MODULE,
291 static const char * const adis16209_status_error_msgs[] = {
292 [ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
293 [ADIS16209_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
294 [ADIS16209_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
295 [ADIS16209_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
296 [ADIS16209_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
299 static const struct adis_data adis16209_data = {
301 .msc_ctrl_reg = ADIS16209_MSC_CTRL,
302 .glob_cmd_reg = ADIS16209_GLOB_CMD,
303 .diag_stat_reg = ADIS16209_DIAG_STAT,
305 .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
306 .self_test_no_autoclear = true,
307 .startup_delay = ADIS16209_STARTUP_DELAY,
309 .status_error_msgs = adis16209_status_error_msgs,
310 .status_error_mask = BIT(ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT) |
311 BIT(ADIS16209_DIAG_STAT_SPI_FAIL_BIT) |
312 BIT(ADIS16209_DIAG_STAT_FLASH_UPT_BIT) |
313 BIT(ADIS16209_DIAG_STAT_POWER_HIGH_BIT) |
314 BIT(ADIS16209_DIAG_STAT_POWER_LOW_BIT),
317 static int adis16209_probe(struct spi_device *spi)
321 struct iio_dev *indio_dev;
323 /* setup the industrialio driver allocated elements */
324 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
327 st = iio_priv(indio_dev);
328 /* this is only used for removal purposes */
329 spi_set_drvdata(spi, indio_dev);
331 indio_dev->name = spi->dev.driver->name;
332 indio_dev->dev.parent = &spi->dev;
333 indio_dev->info = &adis16209_info;
334 indio_dev->channels = adis16209_channels;
335 indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
336 indio_dev->modes = INDIO_DIRECT_MODE;
338 ret = adis_init(st, indio_dev, spi, &adis16209_data);
341 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
345 /* Get the device into a sane initial state */
346 ret = adis_initial_startup(st);
348 goto error_cleanup_buffer_trigger;
349 ret = iio_device_register(indio_dev);
351 goto error_cleanup_buffer_trigger;
355 error_cleanup_buffer_trigger:
356 adis_cleanup_buffer_and_trigger(st, indio_dev);
360 static int adis16209_remove(struct spi_device *spi)
362 struct iio_dev *indio_dev = spi_get_drvdata(spi);
363 struct adis *st = iio_priv(indio_dev);
365 iio_device_unregister(indio_dev);
366 adis_cleanup_buffer_and_trigger(st, indio_dev);
371 static struct spi_driver adis16209_driver = {
375 .probe = adis16209_probe,
376 .remove = adis16209_remove,
378 module_spi_driver(adis16209_driver);
380 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
381 MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
382 MODULE_LICENSE("GPL v2");
383 MODULE_ALIAS("spi:adis16209");