2 * ADXL345 3-Axis Digital Accelerometer IIO core driver
4 * Copyright (c) 2017 Eva Rachel Retuya <eraretuya@gmail.com>
6 * This file is subject to the terms and conditions of version 2 of
7 * the GNU General Public License. See the file COPYING in the main
8 * directory of this archive for more details.
10 * Datasheet: http://www.analog.com/media/en/technical-documentation/data-sheets/ADXL345.pdf
13 #include <linux/module.h>
14 #include <linux/regmap.h>
16 #include <linux/iio/iio.h>
17 #include <linux/iio/sysfs.h>
21 #define ADXL345_REG_DEVID 0x00
22 #define ADXL345_REG_OFSX 0x1e
23 #define ADXL345_REG_OFSY 0x1f
24 #define ADXL345_REG_OFSZ 0x20
25 #define ADXL345_REG_OFS_AXIS(index) (ADXL345_REG_OFSX + (index))
26 #define ADXL345_REG_BW_RATE 0x2C
27 #define ADXL345_REG_POWER_CTL 0x2D
28 #define ADXL345_REG_DATA_FORMAT 0x31
29 #define ADXL345_REG_DATAX0 0x32
30 #define ADXL345_REG_DATAY0 0x34
31 #define ADXL345_REG_DATAZ0 0x36
32 #define ADXL345_REG_DATA_AXIS(index) \
33 (ADXL345_REG_DATAX0 + (index) * sizeof(__le16))
35 #define ADXL345_BW_RATE GENMASK(3, 0)
36 #define ADXL345_BASE_RATE_NANO_HZ 97656250LL
37 #define NHZ_PER_HZ 1000000000LL
39 #define ADXL345_POWER_CTL_MEASURE BIT(3)
40 #define ADXL345_POWER_CTL_STANDBY 0x00
42 #define ADXL345_DATA_FORMAT_FULL_RES BIT(3) /* Up to 13-bits resolution */
43 #define ADXL345_DATA_FORMAT_2G 0
44 #define ADXL345_DATA_FORMAT_4G 1
45 #define ADXL345_DATA_FORMAT_8G 2
46 #define ADXL345_DATA_FORMAT_16G 3
48 #define ADXL345_DEVID 0xE5
51 * In full-resolution mode, scale factor is maintained at ~4 mg/LSB
54 * At +/- 16g with 13-bit resolution, scale is computed as:
55 * (16 + 16) * 9.81 / (2^13 - 1) = 0.0383
57 static const int adxl345_uscale = 38300;
60 struct regmap *regmap;
64 #define ADXL345_CHANNEL(index, axis) { \
67 .channel2 = IIO_MOD_##axis, \
69 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | \
70 BIT(IIO_CHAN_INFO_CALIBBIAS), \
71 .info_mask_shared_by_type = BIT(IIO_CHAN_INFO_SCALE) | \
72 BIT(IIO_CHAN_INFO_SAMP_FREQ), \
75 static const struct iio_chan_spec adxl345_channels[] = {
76 ADXL345_CHANNEL(0, X),
77 ADXL345_CHANNEL(1, Y),
78 ADXL345_CHANNEL(2, Z),
81 static int adxl345_read_raw(struct iio_dev *indio_dev,
82 struct iio_chan_spec const *chan,
83 int *val, int *val2, long mask)
85 struct adxl345_data *data = iio_priv(indio_dev);
87 long long samp_freq_nhz;
92 case IIO_CHAN_INFO_RAW:
94 * Data is stored in adjacent registers:
95 * ADXL345_REG_DATA(X0/Y0/Z0) contain the least significant byte
96 * and ADXL345_REG_DATA(X0/Y0/Z0) + 1 the most significant byte
98 ret = regmap_bulk_read(data->regmap,
99 ADXL345_REG_DATA_AXIS(chan->address),
100 &accel, sizeof(accel));
104 *val = sign_extend32(le16_to_cpu(accel), 12);
106 case IIO_CHAN_INFO_SCALE:
108 *val2 = adxl345_uscale;
110 return IIO_VAL_INT_PLUS_MICRO;
111 case IIO_CHAN_INFO_CALIBBIAS:
112 ret = regmap_read(data->regmap,
113 ADXL345_REG_OFS_AXIS(chan->address), ®val);
117 * 8-bit resolution at +/- 2g, that is 4x accel data scale
120 *val = sign_extend32(regval, 7) * 4;
123 case IIO_CHAN_INFO_SAMP_FREQ:
124 ret = regmap_read(data->regmap, ADXL345_REG_BW_RATE, ®val);
128 samp_freq_nhz = ADXL345_BASE_RATE_NANO_HZ <<
129 (regval & ADXL345_BW_RATE);
130 *val = div_s64_rem(samp_freq_nhz, NHZ_PER_HZ, val2);
132 return IIO_VAL_INT_PLUS_NANO;
138 static int adxl345_write_raw(struct iio_dev *indio_dev,
139 struct iio_chan_spec const *chan,
140 int val, int val2, long mask)
142 struct adxl345_data *data = iio_priv(indio_dev);
146 case IIO_CHAN_INFO_CALIBBIAS:
148 * 8-bit resolution at +/- 2g, that is 4x accel data scale
151 return regmap_write(data->regmap,
152 ADXL345_REG_OFS_AXIS(chan->address),
154 case IIO_CHAN_INFO_SAMP_FREQ:
155 n = div_s64(val * NHZ_PER_HZ + val2, ADXL345_BASE_RATE_NANO_HZ);
157 return regmap_update_bits(data->regmap, ADXL345_REG_BW_RATE,
159 clamp_val(ilog2(n), 0,
166 static int adxl345_write_raw_get_fmt(struct iio_dev *indio_dev,
167 struct iio_chan_spec const *chan,
171 case IIO_CHAN_INFO_CALIBBIAS:
173 case IIO_CHAN_INFO_SAMP_FREQ:
174 return IIO_VAL_INT_PLUS_NANO;
180 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL(
181 "0.09765625 0.1953125 0.390625 0.78125 1.5625 3.125 6.25 12.5 25 50 100 200 400 800 1600 3200"
184 static struct attribute *adxl345_attrs[] = {
185 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
189 static const struct attribute_group adxl345_attrs_group = {
190 .attrs = adxl345_attrs,
193 static const struct iio_info adxl345_info = {
194 .attrs = &adxl345_attrs_group,
195 .read_raw = adxl345_read_raw,
196 .write_raw = adxl345_write_raw,
197 .write_raw_get_fmt = adxl345_write_raw_get_fmt,
200 int adxl345_core_probe(struct device *dev, struct regmap *regmap,
203 struct adxl345_data *data;
204 struct iio_dev *indio_dev;
208 ret = regmap_read(regmap, ADXL345_REG_DEVID, ®val);
210 dev_err(dev, "Error reading device ID: %d\n", ret);
214 if (regval != ADXL345_DEVID) {
215 dev_err(dev, "Invalid device ID: %x, expected %x\n",
216 regval, ADXL345_DEVID);
220 indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
224 data = iio_priv(indio_dev);
225 dev_set_drvdata(dev, indio_dev);
226 data->regmap = regmap;
227 /* Enable full-resolution mode */
228 data->data_range = ADXL345_DATA_FORMAT_FULL_RES;
230 ret = regmap_write(data->regmap, ADXL345_REG_DATA_FORMAT,
233 dev_err(dev, "Failed to set data range: %d\n", ret);
237 indio_dev->dev.parent = dev;
238 indio_dev->name = name;
239 indio_dev->info = &adxl345_info;
240 indio_dev->modes = INDIO_DIRECT_MODE;
241 indio_dev->channels = adxl345_channels;
242 indio_dev->num_channels = ARRAY_SIZE(adxl345_channels);
244 /* Enable measurement mode */
245 ret = regmap_write(data->regmap, ADXL345_REG_POWER_CTL,
246 ADXL345_POWER_CTL_MEASURE);
248 dev_err(dev, "Failed to enable measurement mode: %d\n", ret);
252 ret = iio_device_register(indio_dev);
254 dev_err(dev, "iio_device_register failed: %d\n", ret);
255 regmap_write(data->regmap, ADXL345_REG_POWER_CTL,
256 ADXL345_POWER_CTL_STANDBY);
261 EXPORT_SYMBOL_GPL(adxl345_core_probe);
263 int adxl345_core_remove(struct device *dev)
265 struct iio_dev *indio_dev = dev_get_drvdata(dev);
266 struct adxl345_data *data = iio_priv(indio_dev);
268 iio_device_unregister(indio_dev);
270 return regmap_write(data->regmap, ADXL345_REG_POWER_CTL,
271 ADXL345_POWER_CTL_STANDBY);
273 EXPORT_SYMBOL_GPL(adxl345_core_remove);
275 MODULE_AUTHOR("Eva Rachel Retuya <eraretuya@gmail.com>");
276 MODULE_DESCRIPTION("ADXL345 3-Axis Digital Accelerometer core driver");
277 MODULE_LICENSE("GPL v2");