1 | // SPDX-License-Identifier: GPL-2.0-or-later |
2 | /* |
3 | * ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer |
4 | * |
5 | * Copyright 2010 Analog Devices Inc. |
6 | */ |
7 | |
8 | #include <linux/device.h> |
9 | #include <linux/kernel.h> |
10 | #include <linux/module.h> |
11 | #include <linux/spi/spi.h> |
12 | |
13 | #include <linux/iio/iio.h> |
14 | #include <linux/iio/imu/adis.h> |
15 | |
16 | #define ADIS16201_STARTUP_DELAY_MS 220 |
17 | #define ADIS16201_FLASH_CNT 0x00 |
18 | |
19 | /* Data Output Register Information */ |
20 | #define ADIS16201_SUPPLY_OUT_REG 0x02 |
21 | #define ADIS16201_XACCL_OUT_REG 0x04 |
22 | #define ADIS16201_YACCL_OUT_REG 0x06 |
23 | #define ADIS16201_AUX_ADC_REG 0x08 |
24 | #define ADIS16201_TEMP_OUT_REG 0x0A |
25 | #define ADIS16201_XINCL_OUT_REG 0x0C |
26 | #define ADIS16201_YINCL_OUT_REG 0x0E |
27 | |
28 | /* Calibration Register Definition */ |
29 | #define ADIS16201_XACCL_OFFS_REG 0x10 |
30 | #define ADIS16201_YACCL_OFFS_REG 0x12 |
31 | #define ADIS16201_XACCL_SCALE_REG 0x14 |
32 | #define ADIS16201_YACCL_SCALE_REG 0x16 |
33 | #define ADIS16201_XINCL_OFFS_REG 0x18 |
34 | #define ADIS16201_YINCL_OFFS_REG 0x1A |
35 | #define ADIS16201_XINCL_SCALE_REG 0x1C |
36 | #define ADIS16201_YINCL_SCALE_REG 0x1E |
37 | |
38 | /* Alarm Register Definition */ |
39 | #define ADIS16201_ALM_MAG1_REG 0x20 |
40 | #define ADIS16201_ALM_MAG2_REG 0x22 |
41 | #define ADIS16201_ALM_SMPL1_REG 0x24 |
42 | #define ADIS16201_ALM_SMPL2_REG 0x26 |
43 | #define ADIS16201_ALM_CTRL_REG 0x28 |
44 | |
45 | #define ADIS16201_AUX_DAC_REG 0x30 |
46 | #define ADIS16201_GPIO_CTRL_REG 0x32 |
47 | #define ADIS16201_SMPL_PRD_REG 0x36 |
48 | /* Operation, filter configuration */ |
49 | #define ADIS16201_AVG_CNT_REG 0x38 |
50 | #define ADIS16201_SLP_CNT_REG 0x3A |
51 | |
52 | /* Miscellaneous Control Register Definition */ |
53 | #define ADIS16201_MSC_CTRL_REG 0x34 |
54 | #define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8) |
55 | /* Data-ready enable: 1 = enabled, 0 = disabled */ |
56 | #define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2) |
57 | /* Data-ready polarity: 1 = active high, 0 = active low */ |
58 | #define ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH BIT(1) |
59 | /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */ |
60 | #define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0) |
61 | |
62 | /* Diagnostics System Status Register Definition */ |
63 | #define ADIS16201_DIAG_STAT_REG 0x3C |
64 | #define ADIS16201_DIAG_STAT_ALARM2 BIT(9) |
65 | #define ADIS16201_DIAG_STAT_ALARM1 BIT(8) |
66 | #define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3 |
67 | #define ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT 2 |
68 | /* Power supply above 3.625 V */ |
69 | #define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1 |
70 | /* Power supply below 2.975 V */ |
71 | #define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0 |
72 | |
73 | /* System Command Register Definition */ |
74 | #define ADIS16201_GLOB_CMD_REG 0x3E |
75 | #define ADIS16201_GLOB_CMD_SW_RESET BIT(7) |
76 | #define ADIS16201_GLOB_CMD_FACTORY_RESET BIT(1) |
77 | |
78 | #define ADIS16201_ERROR_ACTIVE BIT(14) |
79 | |
80 | enum adis16201_scan { |
81 | ADIS16201_SCAN_ACC_X, |
82 | ADIS16201_SCAN_ACC_Y, |
83 | ADIS16201_SCAN_INCLI_X, |
84 | ADIS16201_SCAN_INCLI_Y, |
85 | ADIS16201_SCAN_SUPPLY, |
86 | ADIS16201_SCAN_AUX_ADC, |
87 | ADIS16201_SCAN_TEMP, |
88 | }; |
89 | |
90 | static const u8 adis16201_addresses[] = { |
91 | [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG, |
92 | [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG, |
93 | [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG, |
94 | [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG, |
95 | }; |
96 | |
97 | static int adis16201_read_raw(struct iio_dev *indio_dev, |
98 | struct iio_chan_spec const *chan, |
99 | int *val, int *val2, |
100 | long mask) |
101 | { |
102 | struct adis *st = iio_priv(indio_dev); |
103 | int ret; |
104 | int bits; |
105 | u8 addr; |
106 | s16 val16; |
107 | |
108 | switch (mask) { |
109 | case IIO_CHAN_INFO_RAW: |
110 | return adis_single_conversion(indio_dev, chan, |
111 | ADIS16201_ERROR_ACTIVE, val); |
112 | case IIO_CHAN_INFO_SCALE: |
113 | switch (chan->type) { |
114 | case IIO_VOLTAGE: |
115 | if (chan->channel == 0) { |
116 | /* Voltage base units are mV hence 1.22 mV */ |
117 | *val = 1; |
118 | *val2 = 220000; |
119 | } else { |
120 | /* Voltage base units are mV hence 0.61 mV */ |
121 | *val = 0; |
122 | *val2 = 610000; |
123 | } |
124 | return IIO_VAL_INT_PLUS_MICRO; |
125 | case IIO_TEMP: |
126 | *val = -470; |
127 | *val2 = 0; |
128 | return IIO_VAL_INT_PLUS_MICRO; |
129 | case IIO_ACCEL: |
130 | /* |
131 | * IIO base unit for sensitivity of accelerometer |
132 | * is milli g. |
133 | * 1 LSB represents 0.244 mg. |
134 | */ |
135 | *val = 0; |
136 | *val2 = IIO_G_TO_M_S_2(462400); |
137 | return IIO_VAL_INT_PLUS_NANO; |
138 | case IIO_INCLI: |
139 | *val = 0; |
140 | *val2 = 100000; |
141 | return IIO_VAL_INT_PLUS_MICRO; |
142 | default: |
143 | return -EINVAL; |
144 | } |
145 | break; |
146 | case IIO_CHAN_INFO_OFFSET: |
147 | /* |
148 | * The raw ADC value is 1278 when the temperature |
149 | * is 25 degrees and the scale factor per milli |
150 | * degree celcius is -470. |
151 | */ |
152 | *val = 25000 / -470 - 1278; |
153 | return IIO_VAL_INT; |
154 | case IIO_CHAN_INFO_CALIBBIAS: |
155 | switch (chan->type) { |
156 | case IIO_ACCEL: |
157 | bits = 12; |
158 | break; |
159 | case IIO_INCLI: |
160 | bits = 9; |
161 | break; |
162 | default: |
163 | return -EINVAL; |
164 | } |
165 | addr = adis16201_addresses[chan->scan_index]; |
166 | ret = adis_read_reg_16(adis: st, reg: addr, val: &val16); |
167 | if (ret) |
168 | return ret; |
169 | |
170 | *val = sign_extend32(value: val16, index: bits - 1); |
171 | return IIO_VAL_INT; |
172 | } |
173 | |
174 | return -EINVAL; |
175 | } |
176 | |
177 | static int adis16201_write_raw(struct iio_dev *indio_dev, |
178 | struct iio_chan_spec const *chan, |
179 | int val, |
180 | int val2, |
181 | long mask) |
182 | { |
183 | struct adis *st = iio_priv(indio_dev); |
184 | int m; |
185 | |
186 | if (mask != IIO_CHAN_INFO_CALIBBIAS) |
187 | return -EINVAL; |
188 | |
189 | switch (chan->type) { |
190 | case IIO_ACCEL: |
191 | m = GENMASK(11, 0); |
192 | break; |
193 | case IIO_INCLI: |
194 | m = GENMASK(8, 0); |
195 | break; |
196 | default: |
197 | return -EINVAL; |
198 | } |
199 | |
200 | return adis_write_reg_16(adis: st, reg: adis16201_addresses[chan->scan_index], |
201 | val: val & m); |
202 | } |
203 | |
204 | static const struct iio_chan_spec adis16201_channels[] = { |
205 | ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0, |
206 | 12), |
207 | ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12), |
208 | ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X, |
209 | BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
210 | ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y, |
211 | BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
212 | ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12), |
213 | ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X, |
214 | BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
215 | ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y, |
216 | BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
217 | IIO_CHAN_SOFT_TIMESTAMP(7) |
218 | }; |
219 | |
220 | static const struct iio_info adis16201_info = { |
221 | .read_raw = adis16201_read_raw, |
222 | .write_raw = adis16201_write_raw, |
223 | .update_scan_mode = adis_update_scan_mode, |
224 | }; |
225 | |
226 | static const char * const adis16201_status_error_msgs[] = { |
227 | [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure" , |
228 | [ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed" , |
229 | [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V" , |
230 | [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V" , |
231 | }; |
232 | |
233 | static const struct adis_timeout adis16201_timeouts = { |
234 | .reset_ms = ADIS16201_STARTUP_DELAY_MS, |
235 | .sw_reset_ms = ADIS16201_STARTUP_DELAY_MS, |
236 | .self_test_ms = ADIS16201_STARTUP_DELAY_MS, |
237 | }; |
238 | |
239 | static const struct adis_data adis16201_data = { |
240 | .read_delay = 20, |
241 | .msc_ctrl_reg = ADIS16201_MSC_CTRL_REG, |
242 | .glob_cmd_reg = ADIS16201_GLOB_CMD_REG, |
243 | .diag_stat_reg = ADIS16201_DIAG_STAT_REG, |
244 | |
245 | .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN, |
246 | .self_test_reg = ADIS16201_MSC_CTRL_REG, |
247 | .self_test_no_autoclear = true, |
248 | .timeouts = &adis16201_timeouts, |
249 | |
250 | .status_error_msgs = adis16201_status_error_msgs, |
251 | .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) | |
252 | BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) | |
253 | BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) | |
254 | BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT), |
255 | }; |
256 | |
257 | static int adis16201_probe(struct spi_device *spi) |
258 | { |
259 | struct iio_dev *indio_dev; |
260 | struct adis *st; |
261 | int ret; |
262 | |
263 | indio_dev = devm_iio_device_alloc(parent: &spi->dev, sizeof_priv: sizeof(*st)); |
264 | if (!indio_dev) |
265 | return -ENOMEM; |
266 | |
267 | st = iio_priv(indio_dev); |
268 | |
269 | indio_dev->name = spi->dev.driver->name; |
270 | indio_dev->info = &adis16201_info; |
271 | |
272 | indio_dev->channels = adis16201_channels; |
273 | indio_dev->num_channels = ARRAY_SIZE(adis16201_channels); |
274 | indio_dev->modes = INDIO_DIRECT_MODE; |
275 | |
276 | ret = adis_init(adis: st, indio_dev, spi, data: &adis16201_data); |
277 | if (ret) |
278 | return ret; |
279 | |
280 | ret = devm_adis_setup_buffer_and_trigger(adis: st, indio_dev, NULL); |
281 | if (ret) |
282 | return ret; |
283 | |
284 | ret = __adis_initial_startup(adis: st); |
285 | if (ret) |
286 | return ret; |
287 | |
288 | return devm_iio_device_register(&spi->dev, indio_dev); |
289 | } |
290 | |
291 | static struct spi_driver adis16201_driver = { |
292 | .driver = { |
293 | .name = "adis16201" , |
294 | }, |
295 | .probe = adis16201_probe, |
296 | }; |
297 | module_spi_driver(adis16201_driver); |
298 | |
299 | MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>" ); |
300 | MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer" ); |
301 | MODULE_LICENSE("GPL v2" ); |
302 | MODULE_ALIAS("spi:adis16201" ); |
303 | MODULE_IMPORT_NS(IIO_ADISLIB); |
304 | |