xref: /openbmc/linux/drivers/iio/accel/adis16201.c (revision 594ff4c4)
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 
adis16201_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)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(st, addr, &val16);
167 		if (ret)
168 			return ret;
169 
170 		*val = sign_extend32(val16, bits - 1);
171 		return IIO_VAL_INT;
172 	}
173 
174 	return -EINVAL;
175 }
176 
adis16201_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)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(st, adis16201_addresses[chan->scan_index],
201 				 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 
adis16201_probe(struct spi_device * spi)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(&spi->dev, 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(st, indio_dev, spi, &adis16201_data);
277 	if (ret)
278 		return ret;
279 
280 	ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
281 	if (ret)
282 		return ret;
283 
284 	ret = __adis_initial_startup(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