1 // SPDX-License-Identifier: GPL-2.0+
3 * ADIS16203 Programmable 360 Degrees Inclinometer
5 * Copyright 2010 Analog Devices Inc.
8 #include <linux/delay.h>
9 #include <linux/device.h>
11 #include <linux/iio/buffer.h>
12 #include <linux/iio/iio.h>
13 #include <linux/iio/imu/adis.h>
14 #include <linux/iio/sysfs.h>
16 #include <linux/kernel.h>
17 #include <linux/module.h>
18 #include <linux/mutex.h>
19 #include <linux/slab.h>
20 #include <linux/spi/spi.h>
21 #include <linux/sysfs.h>
23 #define ADIS16203_STARTUP_DELAY 220 /* ms */
25 /* Flash memory write count */
26 #define ADIS16203_FLASH_CNT 0x00
28 /* Output, power supply */
29 #define ADIS16203_SUPPLY_OUT 0x02
31 /* Output, auxiliary ADC input */
32 #define ADIS16203_AUX_ADC 0x08
34 /* Output, temperature */
35 #define ADIS16203_TEMP_OUT 0x0A
37 /* Output, x-axis inclination */
38 #define ADIS16203_XINCL_OUT 0x0C
40 /* Output, y-axis inclination */
41 #define ADIS16203_YINCL_OUT 0x0E
43 /* Incline null calibration */
44 #define ADIS16203_INCL_NULL 0x18
46 /* Alarm 1 amplitude threshold */
47 #define ADIS16203_ALM_MAG1 0x20
49 /* Alarm 2 amplitude threshold */
50 #define ADIS16203_ALM_MAG2 0x22
52 /* Alarm 1, sample period */
53 #define ADIS16203_ALM_SMPL1 0x24
55 /* Alarm 2, sample period */
56 #define ADIS16203_ALM_SMPL2 0x26
59 #define ADIS16203_ALM_CTRL 0x28
61 /* Auxiliary DAC data */
62 #define ADIS16203_AUX_DAC 0x30
64 /* General-purpose digital input/output control */
65 #define ADIS16203_GPIO_CTRL 0x32
67 /* Miscellaneous control */
68 #define ADIS16203_MSC_CTRL 0x34
70 /* Internal sample period (rate) control */
71 #define ADIS16203_SMPL_PRD 0x36
73 /* Operation, filter configuration */
74 #define ADIS16203_AVG_CNT 0x38
76 /* Operation, sleep mode control */
77 #define ADIS16203_SLP_CNT 0x3A
79 /* Diagnostics, system status register */
80 #define ADIS16203_DIAG_STAT 0x3C
82 /* Operation, system command register */
83 #define ADIS16203_GLOB_CMD 0x3E
87 /* Self-test at power-on: 1 = disabled, 0 = enabled */
88 #define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
90 /* Reverses rotation of both inclination outputs */
91 #define ADIS16203_MSC_CTRL_REVERSE_ROT_EN BIT(9)
93 /* Self-test enable */
94 #define ADIS16203_MSC_CTRL_SELF_TEST_EN BIT(8)
96 /* Data-ready enable: 1 = enabled, 0 = disabled */
97 #define ADIS16203_MSC_CTRL_DATA_RDY_EN BIT(2)
99 /* Data-ready polarity: 1 = active high, 0 = active low */
100 #define ADIS16203_MSC_CTRL_ACTIVE_HIGH BIT(1)
102 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
103 #define ADIS16203_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
107 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
108 #define ADIS16203_DIAG_STAT_ALARM2 BIT(9)
110 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
111 #define ADIS16203_DIAG_STAT_ALARM1 BIT(8)
113 /* Self-test diagnostic error flag */
114 #define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
116 /* SPI communications failure */
117 #define ADIS16203_DIAG_STAT_SPI_FAIL_BIT 3
119 /* Flash update failure */
120 #define ADIS16203_DIAG_STAT_FLASH_UPT_BIT 2
122 /* Power supply above 3.625 V */
123 #define ADIS16203_DIAG_STAT_POWER_HIGH_BIT 1
125 /* Power supply below 2.975 V */
126 #define ADIS16203_DIAG_STAT_POWER_LOW_BIT 0
130 #define ADIS16203_GLOB_CMD_SW_RESET BIT(7)
131 #define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4)
132 #define ADIS16203_GLOB_CMD_FACTORY_CAL BIT(1)
134 #define ADIS16203_ERROR_ACTIVE BIT(14)
136 enum adis16203_scan {
137 ADIS16203_SCAN_INCLI_X,
138 ADIS16203_SCAN_INCLI_Y,
139 ADIS16203_SCAN_SUPPLY,
140 ADIS16203_SCAN_AUX_ADC,
144 #define DRIVER_NAME "adis16203"
146 static const u8 adis16203_addresses[] = {
147 [ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
150 static int adis16203_write_raw(struct iio_dev *indio_dev,
151 struct iio_chan_spec const *chan,
156 struct adis *st = iio_priv(indio_dev);
157 /* currently only one writable parameter which keeps this simple */
158 u8 addr = adis16203_addresses[chan->scan_index];
160 return adis_write_reg_16(st, addr, val & 0x3FFF);
163 static int adis16203_read_raw(struct iio_dev *indio_dev,
164 struct iio_chan_spec const *chan,
168 struct adis *st = iio_priv(indio_dev);
174 case IIO_CHAN_INFO_RAW:
175 return adis_single_conversion(indio_dev, chan,
176 ADIS16203_ERROR_ACTIVE, val);
177 case IIO_CHAN_INFO_SCALE:
178 switch (chan->type) {
180 if (chan->channel == 0) {
182 *val2 = 220000; /* 1.22 mV */
185 *val2 = 610000; /* 0.61 mV */
187 return IIO_VAL_INT_PLUS_MICRO;
189 *val = -470; /* -0.47 C */
191 return IIO_VAL_INT_PLUS_MICRO;
194 *val2 = 25000; /* 0.025 degree */
195 return IIO_VAL_INT_PLUS_MICRO;
199 case IIO_CHAN_INFO_OFFSET:
200 *val = 25000 / -470 - 1278; /* 25 C = 1278 */
202 case IIO_CHAN_INFO_CALIBBIAS:
203 addr = adis16203_addresses[chan->scan_index];
204 ret = adis_read_reg_16(st, addr, &val16);
207 *val = sign_extend32(val16, 13);
214 static const struct iio_chan_spec adis16203_channels[] = {
215 ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
216 ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
217 ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
218 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
219 /* Fixme: Not what it appears to be - see data sheet */
220 ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
222 ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
223 IIO_CHAN_SOFT_TIMESTAMP(5),
226 static const struct iio_info adis16203_info = {
227 .read_raw = adis16203_read_raw,
228 .write_raw = adis16203_write_raw,
229 .update_scan_mode = adis_update_scan_mode,
232 static const char * const adis16203_status_error_msgs[] = {
233 [ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
234 [ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
235 [ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
236 [ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
237 [ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
240 static const struct adis_timeout adis16203_timeouts = {
241 .reset_ms = ADIS16203_STARTUP_DELAY,
242 .sw_reset_ms = ADIS16203_STARTUP_DELAY,
243 .self_test_ms = ADIS16203_STARTUP_DELAY
246 static const struct adis_data adis16203_data = {
248 .msc_ctrl_reg = ADIS16203_MSC_CTRL,
249 .glob_cmd_reg = ADIS16203_GLOB_CMD,
250 .diag_stat_reg = ADIS16203_DIAG_STAT,
252 .self_test_mask = ADIS16203_MSC_CTRL_SELF_TEST_EN,
253 .self_test_no_autoclear = true,
254 .timeouts = &adis16203_timeouts,
256 .status_error_msgs = adis16203_status_error_msgs,
257 .status_error_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) |
258 BIT(ADIS16203_DIAG_STAT_SPI_FAIL_BIT) |
259 BIT(ADIS16203_DIAG_STAT_FLASH_UPT_BIT) |
260 BIT(ADIS16203_DIAG_STAT_POWER_HIGH_BIT) |
261 BIT(ADIS16203_DIAG_STAT_POWER_LOW_BIT),
264 static int adis16203_probe(struct spi_device *spi)
267 struct iio_dev *indio_dev;
270 /* setup the industrialio driver allocated elements */
271 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
274 st = iio_priv(indio_dev);
275 /* this is only used for removal purposes */
276 spi_set_drvdata(spi, indio_dev);
278 indio_dev->name = spi->dev.driver->name;
279 indio_dev->dev.parent = &spi->dev;
280 indio_dev->channels = adis16203_channels;
281 indio_dev->num_channels = ARRAY_SIZE(adis16203_channels);
282 indio_dev->info = &adis16203_info;
283 indio_dev->modes = INDIO_DIRECT_MODE;
285 ret = adis_init(st, indio_dev, spi, &adis16203_data);
289 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
293 /* Get the device into a sane initial state */
294 ret = adis_initial_startup(st);
296 goto error_cleanup_buffer_trigger;
298 ret = iio_device_register(indio_dev);
300 goto error_cleanup_buffer_trigger;
304 error_cleanup_buffer_trigger:
305 adis_cleanup_buffer_and_trigger(st, indio_dev);
309 static int adis16203_remove(struct spi_device *spi)
311 struct iio_dev *indio_dev = spi_get_drvdata(spi);
312 struct adis *st = iio_priv(indio_dev);
314 iio_device_unregister(indio_dev);
315 adis_cleanup_buffer_and_trigger(st, indio_dev);
320 static const struct of_device_id adis16203_of_match[] = {
321 { .compatible = "adi,adis16203" },
325 MODULE_DEVICE_TABLE(of, adis16203_of_match);
327 static struct spi_driver adis16203_driver = {
330 .of_match_table = adis16203_of_match,
332 .probe = adis16203_probe,
333 .remove = adis16203_remove,
335 module_spi_driver(adis16203_driver);
337 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
338 MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
339 MODULE_LICENSE("GPL v2");
340 MODULE_ALIAS("spi:adis16203");