summaryrefslogtreecommitdiff
path: root/drivers/iio/accel/adis16209.c
blob: f2dc3a5f046361ab016bd8d581a431a470f522c5 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
/*
 * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer
 *
 * Copyright 2010 Analog Devices Inc.
 *
 * Licensed under the GPL-2 or later.
 */

#include <linux/device.h>
#include <linux/kernel.h>
#include <linux/list.h>
#include <linux/module.h>
#include <linux/spi/spi.h>
#include <linux/slab.h>
#include <linux/sysfs.h>

#include <linux/iio/iio.h>
#include <linux/iio/imu/adis.h>

#define ADIS16209_STARTUP_DELAY_MS	220
#define ADIS16209_FLASH_CNT_REG		0x00

/* Data Output Register Definitions */
#define ADIS16209_SUPPLY_OUT_REG	0x02
#define ADIS16209_XACCL_OUT_REG		0x04
#define ADIS16209_YACCL_OUT_REG		0x06
/* Output, auxiliary ADC input */
#define ADIS16209_AUX_ADC_REG		0x08
/* Output, temperature */
#define ADIS16209_TEMP_OUT_REG		0x0A
/* Output, +/- 90 degrees X-axis inclination */
#define ADIS16209_XINCL_OUT_REG		0x0C
#define ADIS16209_YINCL_OUT_REG		0x0E
/* Output, +/-180 vertical rotational position */
#define ADIS16209_ROT_OUT_REG		0x10

/*
 * Calibration Register Definitions.
 * Acceleration, inclination or rotation offset null.
 */
#define ADIS16209_XACCL_NULL_REG	0x12
#define ADIS16209_YACCL_NULL_REG	0x14
#define ADIS16209_XINCL_NULL_REG	0x16
#define ADIS16209_YINCL_NULL_REG	0x18
#define ADIS16209_ROT_NULL_REG		0x1A

/* Alarm Register Definitions */
#define ADIS16209_ALM_MAG1_REG		0x20
#define ADIS16209_ALM_MAG2_REG		0x22
#define ADIS16209_ALM_SMPL1_REG		0x24
#define ADIS16209_ALM_SMPL2_REG		0x26
#define ADIS16209_ALM_CTRL_REG		0x28

#define ADIS16209_AUX_DAC_REG		0x30
#define ADIS16209_GPIO_CTRL_REG		0x32
#define ADIS16209_SMPL_PRD_REG		0x36
#define ADIS16209_AVG_CNT_REG		0x38
#define ADIS16209_SLP_CNT_REG		0x3A

#define ADIS16209_MSC_CTRL_REG			0x34
#define  ADIS16209_MSC_CTRL_PWRUP_SELF_TEST	BIT(10)
#define  ADIS16209_MSC_CTRL_SELF_TEST_EN	BIT(8)
#define  ADIS16209_MSC_CTRL_DATA_RDY_EN		BIT(2)
/* Data-ready polarity: 1 = active high, 0 = active low */
#define  ADIS16209_MSC_CTRL_ACTIVE_HIGH		BIT(1)
#define  ADIS16209_MSC_CTRL_DATA_RDY_DIO2	BIT(0)

#define ADIS16209_STAT_REG			0x3C
#define  ADIS16209_STAT_ALARM2			BIT(9)
#define  ADIS16209_STAT_ALARM1			BIT(8)
#define  ADIS16209_STAT_SELFTEST_FAIL_BIT	5
#define  ADIS16209_STAT_SPI_FAIL_BIT		3
#define  ADIS16209_STAT_FLASH_UPT_FAIL_BIT	2
/* Power supply above 3.625 V */
#define  ADIS16209_STAT_POWER_HIGH_BIT		1
/* Power supply below 3.15 V */
#define  ADIS16209_STAT_POWER_LOW_BIT		0

#define ADIS16209_CMD_REG			0x3E
#define  ADIS16209_CMD_SW_RESET			BIT(7)
#define  ADIS16209_CMD_CLEAR_STAT		BIT(4)
#define  ADIS16209_CMD_FACTORY_CAL		BIT(1)

#define ADIS16209_ERROR_ACTIVE			BIT(14)

enum adis16209_scan {
	ADIS16209_SCAN_SUPPLY,
	ADIS16209_SCAN_ACC_X,
	ADIS16209_SCAN_ACC_Y,
	ADIS16209_SCAN_AUX_ADC,
	ADIS16209_SCAN_TEMP,
	ADIS16209_SCAN_INCLI_X,
	ADIS16209_SCAN_INCLI_Y,
	ADIS16209_SCAN_ROT,
};

static const u8 adis16209_addresses[8][1] = {
	[ADIS16209_SCAN_SUPPLY] = { },
	[ADIS16209_SCAN_AUX_ADC] = { },
	[ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG },
	[ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG },
	[ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG },
	[ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG },
	[ADIS16209_SCAN_ROT] = { },
	[ADIS16209_SCAN_TEMP] = { },
};

static int adis16209_write_raw(struct iio_dev *indio_dev,
			       struct iio_chan_spec const *chan,
			       int val,
			       int val2,
			       long mask)
{
	struct adis *st = iio_priv(indio_dev);
	int m;

	if (mask != IIO_CHAN_INFO_CALIBBIAS)
		return -EINVAL;

	switch (chan->type) {
	case IIO_ACCEL:
	case IIO_INCLI:
		m = GENMASK(13, 0);
		break;
	default:
		return -EINVAL;
	}

	return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0],
				 val & m);
}

static int adis16209_read_raw(struct iio_dev *indio_dev,
			      struct iio_chan_spec const *chan,
			      int *val, int *val2,
			      long mask)
{
	struct adis *st = iio_priv(indio_dev);
	int ret;
	int bits;
	u8 addr;
	s16 val16;

	switch (mask) {
	case IIO_CHAN_INFO_RAW:
		return adis_single_conversion(indio_dev, chan,
			ADIS16209_ERROR_ACTIVE, val);
	case IIO_CHAN_INFO_SCALE:
		switch (chan->type) {
		case IIO_VOLTAGE:
			*val = 0;
			switch (chan->channel) {
			case 0:
				*val2 = 305180; /* 0.30518 mV */
				break;
			case 1:
				*val2 = 610500; /* 0.6105 mV */
				break;
			default:
				return -EINVAL;
			}
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_TEMP:
			*val = -470;
			*val2 = 0;
			return IIO_VAL_INT_PLUS_MICRO;
		case IIO_ACCEL:
			/*
			 * IIO base unit for sensitivity of accelerometer
			 * is milli g.
			 * 1 LSB represents 0.244 mg.
			 */
			*val = 0;
			*val2 = IIO_G_TO_M_S_2(244140);
			return IIO_VAL_INT_PLUS_NANO;
		case IIO_INCLI:
		case IIO_ROT:
			/*
			 * IIO base units for rotation are degrees.
			 * 1 LSB represents 0.025 milli degrees.
			 */
			*val = 0;
			*val2 = 25000;
			return IIO_VAL_INT_PLUS_MICRO;
		default:
			return -EINVAL;
		}
		break;
	case IIO_CHAN_INFO_OFFSET:
		/*
		 * The raw ADC value is 0x4FE when the temperature
		 * is 45 degrees and the scale factor per milli
		 * degree celcius is -470.
		 */
		*val = 25000 / -470 - 0x4FE;
		return IIO_VAL_INT;
	case IIO_CHAN_INFO_CALIBBIAS:
		switch (chan->type) {
		case IIO_ACCEL:
			bits = 14;
			break;
		default:
			return -EINVAL;
		}
		addr = adis16209_addresses[chan->scan_index][0];
		ret = adis_read_reg_16(st, addr, &val16);
		if (ret)
			return ret;

		*val = sign_extend32(val16, bits - 1);
		return IIO_VAL_INT;
	}
	return -EINVAL;
}

static const struct iio_chan_spec adis16209_channels[] = {
	ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY,
			 0, 14),
	ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12),
	ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X,
			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
	ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y,
			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
	ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12),
	ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X,
			0, 0, 14),
	ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y,
			0, 0, 14),
	ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14),
	IIO_CHAN_SOFT_TIMESTAMP(8)
};

static const struct iio_info adis16209_info = {
	.read_raw = adis16209_read_raw,
	.write_raw = adis16209_write_raw,
	.update_scan_mode = adis_update_scan_mode,
};

static const char * const adis16209_status_error_msgs[] = {
	[ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
	[ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure",
	[ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
	[ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
	[ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
};

static const struct adis_data adis16209_data = {
	.read_delay = 30,
	.msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
	.glob_cmd_reg = ADIS16209_CMD_REG,
	.diag_stat_reg = ADIS16209_STAT_REG,

	.self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
	.self_test_no_autoclear = true,
	.startup_delay = ADIS16209_STARTUP_DELAY_MS,

	.status_error_msgs = adis16209_status_error_msgs,
	.status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
		BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
		BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
		BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
		BIT(ADIS16209_STAT_POWER_LOW_BIT),
};

static int adis16209_probe(struct spi_device *spi)
{
	struct iio_dev *indio_dev;
	struct adis *st;
	int ret;

	indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
	if (!indio_dev)
		return -ENOMEM;

	st = iio_priv(indio_dev);
	spi_set_drvdata(spi, indio_dev);

	indio_dev->name = spi->dev.driver->name;
	indio_dev->dev.parent = &spi->dev;
	indio_dev->info = &adis16209_info;
	indio_dev->channels = adis16209_channels;
	indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
	indio_dev->modes = INDIO_DIRECT_MODE;

	ret = adis_init(st, indio_dev, spi, &adis16209_data);
	if (ret)
		return ret;

	ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
	if (ret)
		return ret;

	ret = adis_initial_startup(st);
	if (ret)
		goto error_cleanup_buffer_trigger;
	ret = iio_device_register(indio_dev);
	if (ret)
		goto error_cleanup_buffer_trigger;

	return 0;

error_cleanup_buffer_trigger:
	adis_cleanup_buffer_and_trigger(st, indio_dev);
	return ret;
}

static int adis16209_remove(struct spi_device *spi)
{
	struct iio_dev *indio_dev = spi_get_drvdata(spi);
	struct adis *st = iio_priv(indio_dev);

	iio_device_unregister(indio_dev);
	adis_cleanup_buffer_and_trigger(st, indio_dev);

	return 0;
}

static struct spi_driver adis16209_driver = {
	.driver = {
		.name = "adis16209",
	},
	.probe = adis16209_probe,
	.remove = adis16209_remove,
};
module_spi_driver(adis16209_driver);

MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
MODULE_LICENSE("GPL v2");
MODULE_ALIAS("spi:adis16209");