2 * ADIS16201 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/mutex.h>
11 #include <linux/device.h>
12 #include <linux/kernel.h>
13 #include <linux/spi/spi.h>
14 #include <linux/slab.h>
15 #include <linux/sysfs.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 ADIS16201_STARTUP_DELAY 220 /* ms */
25 /* Flash memory write count */
26 #define ADIS16201_FLASH_CNT 0x00
28 /* Output, power supply */
29 #define ADIS16201_SUPPLY_OUT 0x02
31 /* Output, x-axis accelerometer */
32 #define ADIS16201_XACCL_OUT 0x04
34 /* Output, y-axis accelerometer */
35 #define ADIS16201_YACCL_OUT 0x06
37 /* Output, auxiliary ADC input */
38 #define ADIS16201_AUX_ADC 0x08
40 /* Output, temperature */
41 #define ADIS16201_TEMP_OUT 0x0A
43 /* Output, x-axis inclination */
44 #define ADIS16201_XINCL_OUT 0x0C
46 /* Output, y-axis inclination */
47 #define ADIS16201_YINCL_OUT 0x0E
49 /* Calibration, x-axis acceleration offset */
50 #define ADIS16201_XACCL_OFFS 0x10
52 /* Calibration, y-axis acceleration offset */
53 #define ADIS16201_YACCL_OFFS 0x12
55 /* x-axis acceleration scale factor */
56 #define ADIS16201_XACCL_SCALE 0x14
58 /* y-axis acceleration scale factor */
59 #define ADIS16201_YACCL_SCALE 0x16
61 /* Calibration, x-axis inclination offset */
62 #define ADIS16201_XINCL_OFFS 0x18
64 /* Calibration, y-axis inclination offset */
65 #define ADIS16201_YINCL_OFFS 0x1A
67 /* x-axis inclination scale factor */
68 #define ADIS16201_XINCL_SCALE 0x1C
70 /* y-axis inclination scale factor */
71 #define ADIS16201_YINCL_SCALE 0x1E
73 /* Alarm 1 amplitude threshold */
74 #define ADIS16201_ALM_MAG1 0x20
76 /* Alarm 2 amplitude threshold */
77 #define ADIS16201_ALM_MAG2 0x22
79 /* Alarm 1, sample period */
80 #define ADIS16201_ALM_SMPL1 0x24
82 /* Alarm 2, sample period */
83 #define ADIS16201_ALM_SMPL2 0x26
86 #define ADIS16201_ALM_CTRL 0x28
88 /* Auxiliary DAC data */
89 #define ADIS16201_AUX_DAC 0x30
91 /* General-purpose digital input/output control */
92 #define ADIS16201_GPIO_CTRL 0x32
94 /* Miscellaneous control */
95 #define ADIS16201_MSC_CTRL 0x34
97 /* Internal sample period (rate) control */
98 #define ADIS16201_SMPL_PRD 0x36
100 /* Operation, filter configuration */
101 #define ADIS16201_AVG_CNT 0x38
103 /* Operation, sleep mode control */
104 #define ADIS16201_SLP_CNT 0x3A
106 /* Diagnostics, system status register */
107 #define ADIS16201_DIAG_STAT 0x3C
109 /* Operation, system command register */
110 #define ADIS16201_GLOB_CMD 0x3E
114 /* Self-test enable */
115 #define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8)
117 /* Data-ready enable: 1 = enabled, 0 = disabled */
118 #define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2)
120 /* Data-ready polarity: 1 = active high, 0 = active low */
121 #define ADIS16201_MSC_CTRL_ACTIVE_HIGH BIT(1)
123 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
124 #define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
128 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
129 #define ADIS16201_DIAG_STAT_ALARM2 BIT(9)
131 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
132 #define ADIS16201_DIAG_STAT_ALARM1 BIT(8)
134 /* SPI communications failure */
135 #define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3
137 /* Flash update failure */
138 #define ADIS16201_DIAG_STAT_FLASH_UPT_BIT 2
140 /* Power supply above 3.625 V */
141 #define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1
143 /* Power supply below 3.15 V */
144 #define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0
148 #define ADIS16201_GLOB_CMD_SW_RESET BIT(7)
149 #define ADIS16201_GLOB_CMD_FACTORY_CAL BIT(1)
151 #define ADIS16201_ERROR_ACTIVE BIT(14)
153 enum adis16201_scan {
154 ADIS16201_SCAN_ACC_X,
155 ADIS16201_SCAN_ACC_Y,
156 ADIS16201_SCAN_INCLI_X,
157 ADIS16201_SCAN_INCLI_Y,
158 ADIS16201_SCAN_SUPPLY,
159 ADIS16201_SCAN_AUX_ADC,
163 static const u8 adis16201_addresses[] = {
164 [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS,
165 [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS,
166 [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS,
167 [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS,
170 static int adis16201_read_raw(struct iio_dev *indio_dev,
171 struct iio_chan_spec const *chan,
175 struct adis *st = iio_priv(indio_dev);
182 case IIO_CHAN_INFO_RAW:
183 return adis_single_conversion(indio_dev, chan,
184 ADIS16201_ERROR_ACTIVE, val);
185 case IIO_CHAN_INFO_SCALE:
186 switch (chan->type) {
188 if (chan->channel == 0) {
190 *val2 = 220000; /* 1.22 mV */
193 *val2 = 610000; /* 0.610 mV */
195 return IIO_VAL_INT_PLUS_MICRO;
197 *val = -470; /* 0.47 C */
199 return IIO_VAL_INT_PLUS_MICRO;
202 *val2 = IIO_G_TO_M_S_2(462400); /* 0.4624 mg */
203 return IIO_VAL_INT_PLUS_NANO;
206 *val2 = 100000; /* 0.1 degree */
207 return IIO_VAL_INT_PLUS_MICRO;
212 case IIO_CHAN_INFO_OFFSET:
213 *val = 25000 / -470 - 1278; /* 25 C = 1278 */
215 case IIO_CHAN_INFO_CALIBBIAS:
216 switch (chan->type) {
226 addr = adis16201_addresses[chan->scan_index];
227 ret = adis_read_reg_16(st, addr, &val16);
230 val16 &= (1 << bits) - 1;
231 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
238 static int adis16201_write_raw(struct iio_dev *indio_dev,
239 struct iio_chan_spec const *chan,
244 struct adis *st = iio_priv(indio_dev);
250 case IIO_CHAN_INFO_CALIBBIAS:
251 switch (chan->type) {
261 val16 = val & ((1 << bits) - 1);
262 addr = adis16201_addresses[chan->scan_index];
263 return adis_write_reg_16(st, addr, val16);
268 static const struct iio_chan_spec adis16201_channels[] = {
269 ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT, ADIS16201_SCAN_SUPPLY, 0, 12),
270 ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT, ADIS16201_SCAN_TEMP, 0, 12),
271 ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT, ADIS16201_SCAN_ACC_X,
272 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
273 ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT, ADIS16201_SCAN_ACC_Y,
274 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
275 ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC, ADIS16201_SCAN_AUX_ADC, 0, 12),
276 ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT, ADIS16201_SCAN_INCLI_X,
277 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
278 ADIS_INCLI_CHAN(X, ADIS16201_YINCL_OUT, ADIS16201_SCAN_INCLI_Y,
279 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
280 IIO_CHAN_SOFT_TIMESTAMP(7)
283 static const struct iio_info adis16201_info = {
284 .read_raw = adis16201_read_raw,
285 .write_raw = adis16201_write_raw,
286 .update_scan_mode = adis_update_scan_mode,
287 .driver_module = THIS_MODULE,
290 static const char * const adis16201_status_error_msgs[] = {
291 [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
292 [ADIS16201_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
293 [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
294 [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
297 static const struct adis_data adis16201_data = {
299 .msc_ctrl_reg = ADIS16201_MSC_CTRL,
300 .glob_cmd_reg = ADIS16201_GLOB_CMD,
301 .diag_stat_reg = ADIS16201_DIAG_STAT,
303 .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
304 .self_test_no_autoclear = true,
305 .startup_delay = ADIS16201_STARTUP_DELAY,
307 .status_error_msgs = adis16201_status_error_msgs,
308 .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
309 BIT(ADIS16201_DIAG_STAT_FLASH_UPT_BIT) |
310 BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
311 BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
314 static int adis16201_probe(struct spi_device *spi)
318 struct iio_dev *indio_dev;
320 /* setup the industrialio driver allocated elements */
321 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
325 st = iio_priv(indio_dev);
326 /* this is only used for removal purposes */
327 spi_set_drvdata(spi, indio_dev);
329 indio_dev->name = spi->dev.driver->name;
330 indio_dev->dev.parent = &spi->dev;
331 indio_dev->info = &adis16201_info;
333 indio_dev->channels = adis16201_channels;
334 indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
335 indio_dev->modes = INDIO_DIRECT_MODE;
337 ret = adis_init(st, indio_dev, spi, &adis16201_data);
340 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
344 /* Get the device into a sane initial state */
345 ret = adis_initial_startup(st);
347 goto error_cleanup_buffer_trigger;
349 ret = iio_device_register(indio_dev);
351 goto error_cleanup_buffer_trigger;
354 error_cleanup_buffer_trigger:
355 adis_cleanup_buffer_and_trigger(st, indio_dev);
359 static int adis16201_remove(struct spi_device *spi)
361 struct iio_dev *indio_dev = spi_get_drvdata(spi);
362 struct adis *st = iio_priv(indio_dev);
364 iio_device_unregister(indio_dev);
365 adis_cleanup_buffer_and_trigger(st, indio_dev);
370 static struct spi_driver adis16201_driver = {
374 .probe = adis16201_probe,
375 .remove = adis16201_remove,
377 module_spi_driver(adis16201_driver);
379 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
380 MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
381 MODULE_LICENSE("GPL v2");
382 MODULE_ALIAS("spi:adis16201");