1 /* 2 * ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer 3 * 4 * Copyright 2010 Analog Devices Inc. 5 * 6 * Licensed under the GPL-2 or later. 7 */ 8 9 #include <linux/device.h> 10 #include <linux/kernel.h> 11 #include <linux/module.h> 12 #include <linux/mutex.h> 13 #include <linux/slab.h> 14 #include <linux/spi/spi.h> 15 #include <linux/sysfs.h> 16 17 #include <linux/iio/iio.h> 18 #include <linux/iio/imu/adis.h> 19 20 #define ADIS16201_STARTUP_DELAY_MS 220 21 #define ADIS16201_FLASH_CNT 0x00 22 23 /* Data Output Register Information */ 24 #define ADIS16201_SUPPLY_OUT_REG 0x02 25 #define ADIS16201_XACCL_OUT_REG 0x04 26 #define ADIS16201_YACCL_OUT_REG 0x06 27 #define ADIS16201_AUX_ADC_REG 0x08 28 #define ADIS16201_TEMP_OUT_REG 0x0A 29 #define ADIS16201_XINCL_OUT_REG 0x0C 30 #define ADIS16201_YINCL_OUT_REG 0x0E 31 32 /* Calibration Register Definition */ 33 #define ADIS16201_XACCL_OFFS_REG 0x10 34 #define ADIS16201_YACCL_OFFS_REG 0x12 35 #define ADIS16201_XACCL_SCALE_REG 0x14 36 #define ADIS16201_YACCL_SCALE_REG 0x16 37 #define ADIS16201_XINCL_OFFS_REG 0x18 38 #define ADIS16201_YINCL_OFFS_REG 0x1A 39 #define ADIS16201_XINCL_SCALE_REG 0x1C 40 #define ADIS16201_YINCL_SCALE_REG 0x1E 41 42 /* Alarm Register Definition */ 43 #define ADIS16201_ALM_MAG1_REG 0x20 44 #define ADIS16201_ALM_MAG2_REG 0x22 45 #define ADIS16201_ALM_SMPL1_REG 0x24 46 #define ADIS16201_ALM_SMPL2_REG 0x26 47 #define ADIS16201_ALM_CTRL_REG 0x28 48 49 #define ADIS16201_AUX_DAC_REG 0x30 50 #define ADIS16201_GPIO_CTRL_REG 0x32 51 #define ADIS16201_SMPL_PRD_REG 0x36 52 /* Operation, filter configuration */ 53 #define ADIS16201_AVG_CNT_REG 0x38 54 #define ADIS16201_SLP_CNT_REG 0x3A 55 56 /* Miscellaneous Control Register Definition */ 57 #define ADIS16201_MSC_CTRL_REG 0x34 58 #define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8) 59 /* Data-ready enable: 1 = enabled, 0 = disabled */ 60 #define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2) 61 /* Data-ready polarity: 1 = active high, 0 = active low */ 62 #define ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH BIT(1) 63 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */ 64 #define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0) 65 66 /* Diagnostics System Status Register Definition */ 67 #define ADIS16201_DIAG_STAT_REG 0x3C 68 #define ADIS16201_DIAG_STAT_ALARM2 BIT(9) 69 #define ADIS16201_DIAG_STAT_ALARM1 BIT(8) 70 #define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3 71 #define ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT 2 72 /* Power supply above 3.625 V */ 73 #define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1 74 /* Power supply below 3.15 V */ 75 #define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0 76 77 /* System Command Register Definition */ 78 #define ADIS16201_GLOB_CMD_REG 0x3E 79 #define ADIS16201_GLOB_CMD_SW_RESET BIT(7) 80 #define ADIS16201_GLOB_CMD_FACTORY_RESET BIT(1) 81 82 #define ADIS16201_ERROR_ACTIVE BIT(14) 83 84 enum adis16201_scan { 85 ADIS16201_SCAN_ACC_X, 86 ADIS16201_SCAN_ACC_Y, 87 ADIS16201_SCAN_INCLI_X, 88 ADIS16201_SCAN_INCLI_Y, 89 ADIS16201_SCAN_SUPPLY, 90 ADIS16201_SCAN_AUX_ADC, 91 ADIS16201_SCAN_TEMP, 92 }; 93 94 static const u8 adis16201_addresses[] = { 95 [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG, 96 [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG, 97 [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG, 98 [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG, 99 }; 100 101 static int adis16201_read_raw(struct iio_dev *indio_dev, 102 struct iio_chan_spec const *chan, 103 int *val, int *val2, 104 long mask) 105 { 106 struct adis *st = iio_priv(indio_dev); 107 int ret; 108 int bits; 109 u8 addr; 110 s16 val16; 111 112 switch (mask) { 113 case IIO_CHAN_INFO_RAW: 114 return adis_single_conversion(indio_dev, chan, 115 ADIS16201_ERROR_ACTIVE, val); 116 case IIO_CHAN_INFO_SCALE: 117 switch (chan->type) { 118 case IIO_VOLTAGE: 119 if (chan->channel == 0) { 120 /* Voltage base units are mV hence 1.22 mV */ 121 *val = 1; 122 *val2 = 220000; 123 } else { 124 /* Voltage base units are mV hence 0.61 mV */ 125 *val = 0; 126 *val2 = 610000; 127 } 128 return IIO_VAL_INT_PLUS_MICRO; 129 case IIO_TEMP: 130 *val = -470; 131 *val2 = 0; 132 return IIO_VAL_INT_PLUS_MICRO; 133 case IIO_ACCEL: 134 /* 135 * IIO base unit for sensitivity of accelerometer 136 * is milli g. 137 * 1 LSB represents 0.244 mg. 138 */ 139 *val = 0; 140 *val2 = IIO_G_TO_M_S_2(462400); 141 return IIO_VAL_INT_PLUS_NANO; 142 case IIO_INCLI: 143 *val = 0; 144 *val2 = 100000; 145 return IIO_VAL_INT_PLUS_MICRO; 146 default: 147 return -EINVAL; 148 } 149 break; 150 case IIO_CHAN_INFO_OFFSET: 151 /* 152 * The raw ADC value is 1278 when the temperature 153 * is 25 degrees and the scale factor per milli 154 * degree celcius is -470. 155 */ 156 *val = 25000 / -470 - 1278; 157 return IIO_VAL_INT; 158 case IIO_CHAN_INFO_CALIBBIAS: 159 switch (chan->type) { 160 case IIO_ACCEL: 161 bits = 12; 162 break; 163 case IIO_INCLI: 164 bits = 9; 165 break; 166 default: 167 return -EINVAL; 168 } 169 addr = adis16201_addresses[chan->scan_index]; 170 ret = adis_read_reg_16(st, addr, &val16); 171 if (ret) 172 return ret; 173 174 *val = sign_extend32(val16, bits - 1); 175 return IIO_VAL_INT; 176 } 177 178 return -EINVAL; 179 } 180 181 static int adis16201_write_raw(struct iio_dev *indio_dev, 182 struct iio_chan_spec const *chan, 183 int val, 184 int val2, 185 long mask) 186 { 187 struct adis *st = iio_priv(indio_dev); 188 int m; 189 190 if (mask != IIO_CHAN_INFO_CALIBBIAS) 191 return -EINVAL; 192 193 switch (chan->type) { 194 case IIO_ACCEL: 195 m = GENMASK(11, 0); 196 break; 197 case IIO_INCLI: 198 m = GENMASK(8, 0); 199 break; 200 default: 201 return -EINVAL; 202 } 203 204 return adis_write_reg_16(st, adis16201_addresses[chan->scan_index], 205 val & m); 206 } 207 208 static const struct iio_chan_spec adis16201_channels[] = { 209 ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0, 210 12), 211 ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12), 212 ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X, 213 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 214 ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y, 215 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 216 ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12), 217 ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X, 218 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 219 ADIS_INCLI_CHAN(X, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y, 220 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 221 IIO_CHAN_SOFT_TIMESTAMP(7) 222 }; 223 224 static const struct iio_info adis16201_info = { 225 .read_raw = adis16201_read_raw, 226 .write_raw = adis16201_write_raw, 227 .update_scan_mode = adis_update_scan_mode, 228 }; 229 230 static const char * const adis16201_status_error_msgs[] = { 231 [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 232 [ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed", 233 [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", 234 [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V", 235 }; 236 237 static const struct adis_data adis16201_data = { 238 .read_delay = 20, 239 .msc_ctrl_reg = ADIS16201_MSC_CTRL_REG, 240 .glob_cmd_reg = ADIS16201_GLOB_CMD_REG, 241 .diag_stat_reg = ADIS16201_DIAG_STAT_REG, 242 243 .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN, 244 .self_test_no_autoclear = true, 245 .startup_delay = ADIS16201_STARTUP_DELAY_MS, 246 247 .status_error_msgs = adis16201_status_error_msgs, 248 .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) | 249 BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) | 250 BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) | 251 BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT), 252 }; 253 254 static int adis16201_probe(struct spi_device *spi) 255 { 256 struct iio_dev *indio_dev; 257 struct adis *st; 258 int ret; 259 260 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 261 if (!indio_dev) 262 return -ENOMEM; 263 264 st = iio_priv(indio_dev); 265 spi_set_drvdata(spi, indio_dev); 266 267 indio_dev->name = spi->dev.driver->name; 268 indio_dev->dev.parent = &spi->dev; 269 indio_dev->info = &adis16201_info; 270 271 indio_dev->channels = adis16201_channels; 272 indio_dev->num_channels = ARRAY_SIZE(adis16201_channels); 273 indio_dev->modes = INDIO_DIRECT_MODE; 274 275 ret = adis_init(st, indio_dev, spi, &adis16201_data); 276 if (ret) 277 return ret; 278 279 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL); 280 if (ret) 281 return ret; 282 283 ret = adis_initial_startup(st); 284 if (ret) 285 goto error_cleanup_buffer_trigger; 286 287 ret = iio_device_register(indio_dev); 288 if (ret < 0) 289 goto error_cleanup_buffer_trigger; 290 291 return 0; 292 293 error_cleanup_buffer_trigger: 294 adis_cleanup_buffer_and_trigger(st, indio_dev); 295 return ret; 296 } 297 298 static int adis16201_remove(struct spi_device *spi) 299 { 300 struct iio_dev *indio_dev = spi_get_drvdata(spi); 301 struct adis *st = iio_priv(indio_dev); 302 303 iio_device_unregister(indio_dev); 304 adis_cleanup_buffer_and_trigger(st, indio_dev); 305 306 return 0; 307 } 308 309 static struct spi_driver adis16201_driver = { 310 .driver = { 311 .name = "adis16201", 312 }, 313 .probe = adis16201_probe, 314 .remove = adis16201_remove, 315 }; 316 module_spi_driver(adis16201_driver); 317 318 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 319 MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer"); 320 MODULE_LICENSE("GPL v2"); 321 MODULE_ALIAS("spi:adis16201"); 322