1 /* 2 * ADIS16209 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/list.h> 12 #include <linux/module.h> 13 #include <linux/spi/spi.h> 14 #include <linux/slab.h> 15 #include <linux/sysfs.h> 16 17 #include <linux/iio/iio.h> 18 #include <linux/iio/imu/adis.h> 19 20 #define ADIS16209_STARTUP_DELAY_MS 220 21 #define ADIS16209_FLASH_CNT_REG 0x00 22 23 /* Data Output Register Definitions */ 24 #define ADIS16209_SUPPLY_OUT_REG 0x02 25 #define ADIS16209_XACCL_OUT_REG 0x04 26 #define ADIS16209_YACCL_OUT_REG 0x06 27 /* Output, auxiliary ADC input */ 28 #define ADIS16209_AUX_ADC_REG 0x08 29 /* Output, temperature */ 30 #define ADIS16209_TEMP_OUT_REG 0x0A 31 /* Output, +/- 90 degrees X-axis inclination */ 32 #define ADIS16209_XINCL_OUT_REG 0x0C 33 #define ADIS16209_YINCL_OUT_REG 0x0E 34 /* Output, +/-180 vertical rotational position */ 35 #define ADIS16209_ROT_OUT_REG 0x10 36 37 /* 38 * Calibration Register Definitions. 39 * Acceleration, inclination or rotation offset null. 40 */ 41 #define ADIS16209_XACCL_NULL_REG 0x12 42 #define ADIS16209_YACCL_NULL_REG 0x14 43 #define ADIS16209_XINCL_NULL_REG 0x16 44 #define ADIS16209_YINCL_NULL_REG 0x18 45 #define ADIS16209_ROT_NULL_REG 0x1A 46 47 /* Alarm Register Definitions */ 48 #define ADIS16209_ALM_MAG1_REG 0x20 49 #define ADIS16209_ALM_MAG2_REG 0x22 50 #define ADIS16209_ALM_SMPL1_REG 0x24 51 #define ADIS16209_ALM_SMPL2_REG 0x26 52 #define ADIS16209_ALM_CTRL_REG 0x28 53 54 #define ADIS16209_AUX_DAC_REG 0x30 55 #define ADIS16209_GPIO_CTRL_REG 0x32 56 #define ADIS16209_SMPL_PRD_REG 0x36 57 #define ADIS16209_AVG_CNT_REG 0x38 58 #define ADIS16209_SLP_CNT_REG 0x3A 59 60 #define ADIS16209_MSC_CTRL_REG 0x34 61 #define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10) 62 #define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8) 63 #define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2) 64 /* Data-ready polarity: 1 = active high, 0 = active low */ 65 #define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1) 66 #define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0) 67 68 #define ADIS16209_STAT_REG 0x3C 69 #define ADIS16209_STAT_ALARM2 BIT(9) 70 #define ADIS16209_STAT_ALARM1 BIT(8) 71 #define ADIS16209_STAT_SELFTEST_FAIL_BIT 5 72 #define ADIS16209_STAT_SPI_FAIL_BIT 3 73 #define ADIS16209_STAT_FLASH_UPT_FAIL_BIT 2 74 /* Power supply above 3.625 V */ 75 #define ADIS16209_STAT_POWER_HIGH_BIT 1 76 /* Power supply below 3.15 V */ 77 #define ADIS16209_STAT_POWER_LOW_BIT 0 78 79 #define ADIS16209_CMD_REG 0x3E 80 #define ADIS16209_CMD_SW_RESET BIT(7) 81 #define ADIS16209_CMD_CLEAR_STAT BIT(4) 82 #define ADIS16209_CMD_FACTORY_CAL BIT(1) 83 84 #define ADIS16209_ERROR_ACTIVE BIT(14) 85 86 enum adis16209_scan { 87 ADIS16209_SCAN_SUPPLY, 88 ADIS16209_SCAN_ACC_X, 89 ADIS16209_SCAN_ACC_Y, 90 ADIS16209_SCAN_AUX_ADC, 91 ADIS16209_SCAN_TEMP, 92 ADIS16209_SCAN_INCLI_X, 93 ADIS16209_SCAN_INCLI_Y, 94 ADIS16209_SCAN_ROT, 95 }; 96 97 static const u8 adis16209_addresses[8][1] = { 98 [ADIS16209_SCAN_SUPPLY] = { }, 99 [ADIS16209_SCAN_AUX_ADC] = { }, 100 [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG }, 101 [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG }, 102 [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG }, 103 [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG }, 104 [ADIS16209_SCAN_ROT] = { }, 105 [ADIS16209_SCAN_TEMP] = { }, 106 }; 107 108 static int adis16209_write_raw(struct iio_dev *indio_dev, 109 struct iio_chan_spec const *chan, 110 int val, 111 int val2, 112 long mask) 113 { 114 struct adis *st = iio_priv(indio_dev); 115 int m; 116 117 if (mask != IIO_CHAN_INFO_CALIBBIAS) 118 return -EINVAL; 119 120 switch (chan->type) { 121 case IIO_ACCEL: 122 case IIO_INCLI: 123 m = GENMASK(13, 0); 124 break; 125 default: 126 return -EINVAL; 127 } 128 129 return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0], 130 val & m); 131 } 132 133 static int adis16209_read_raw(struct iio_dev *indio_dev, 134 struct iio_chan_spec const *chan, 135 int *val, int *val2, 136 long mask) 137 { 138 struct adis *st = iio_priv(indio_dev); 139 int ret; 140 int bits; 141 u8 addr; 142 s16 val16; 143 144 switch (mask) { 145 case IIO_CHAN_INFO_RAW: 146 return adis_single_conversion(indio_dev, chan, 147 ADIS16209_ERROR_ACTIVE, val); 148 case IIO_CHAN_INFO_SCALE: 149 switch (chan->type) { 150 case IIO_VOLTAGE: 151 *val = 0; 152 switch (chan->channel) { 153 case 0: 154 *val2 = 305180; /* 0.30518 mV */ 155 break; 156 case 1: 157 *val2 = 610500; /* 0.6105 mV */ 158 break; 159 default: 160 return -EINVAL; 161 } 162 return IIO_VAL_INT_PLUS_MICRO; 163 case IIO_TEMP: 164 *val = -470; 165 *val2 = 0; 166 return IIO_VAL_INT_PLUS_MICRO; 167 case IIO_ACCEL: 168 /* 169 * IIO base unit for sensitivity of accelerometer 170 * is milli g. 171 * 1 LSB represents 0.244 mg. 172 */ 173 *val = 0; 174 *val2 = IIO_G_TO_M_S_2(244140); 175 return IIO_VAL_INT_PLUS_NANO; 176 case IIO_INCLI: 177 case IIO_ROT: 178 /* 179 * IIO base units for rotation are degrees. 180 * 1 LSB represents 0.025 milli degrees. 181 */ 182 *val = 0; 183 *val2 = 25000; 184 return IIO_VAL_INT_PLUS_MICRO; 185 default: 186 return -EINVAL; 187 } 188 break; 189 case IIO_CHAN_INFO_OFFSET: 190 /* 191 * The raw ADC value is 0x4FE when the temperature 192 * is 45 degrees and the scale factor per milli 193 * degree celcius is -470. 194 */ 195 *val = 25000 / -470 - 0x4FE; 196 return IIO_VAL_INT; 197 case IIO_CHAN_INFO_CALIBBIAS: 198 switch (chan->type) { 199 case IIO_ACCEL: 200 bits = 14; 201 break; 202 default: 203 return -EINVAL; 204 } 205 addr = adis16209_addresses[chan->scan_index][0]; 206 ret = adis_read_reg_16(st, addr, &val16); 207 if (ret) 208 return ret; 209 210 *val = sign_extend32(val16, bits - 1); 211 return IIO_VAL_INT; 212 } 213 return -EINVAL; 214 } 215 216 static const struct iio_chan_spec adis16209_channels[] = { 217 ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY, 218 0, 14), 219 ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12), 220 ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X, 221 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 222 ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y, 223 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 224 ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12), 225 ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X, 226 0, 0, 14), 227 ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y, 228 0, 0, 14), 229 ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14), 230 IIO_CHAN_SOFT_TIMESTAMP(8) 231 }; 232 233 static const struct iio_info adis16209_info = { 234 .read_raw = adis16209_read_raw, 235 .write_raw = adis16209_write_raw, 236 .update_scan_mode = adis_update_scan_mode, 237 }; 238 239 static const char * const adis16209_status_error_msgs[] = { 240 [ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure", 241 [ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure", 242 [ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed", 243 [ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", 244 [ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 3.15V", 245 }; 246 247 static const struct adis_data adis16209_data = { 248 .read_delay = 30, 249 .msc_ctrl_reg = ADIS16209_MSC_CTRL_REG, 250 .glob_cmd_reg = ADIS16209_CMD_REG, 251 .diag_stat_reg = ADIS16209_STAT_REG, 252 253 .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN, 254 .self_test_no_autoclear = true, 255 .startup_delay = ADIS16209_STARTUP_DELAY_MS, 256 257 .status_error_msgs = adis16209_status_error_msgs, 258 .status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) | 259 BIT(ADIS16209_STAT_SPI_FAIL_BIT) | 260 BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) | 261 BIT(ADIS16209_STAT_POWER_HIGH_BIT) | 262 BIT(ADIS16209_STAT_POWER_LOW_BIT), 263 }; 264 265 static int adis16209_probe(struct spi_device *spi) 266 { 267 struct iio_dev *indio_dev; 268 struct adis *st; 269 int ret; 270 271 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 272 if (!indio_dev) 273 return -ENOMEM; 274 275 st = iio_priv(indio_dev); 276 spi_set_drvdata(spi, indio_dev); 277 278 indio_dev->name = spi->dev.driver->name; 279 indio_dev->dev.parent = &spi->dev; 280 indio_dev->info = &adis16209_info; 281 indio_dev->channels = adis16209_channels; 282 indio_dev->num_channels = ARRAY_SIZE(adis16209_channels); 283 indio_dev->modes = INDIO_DIRECT_MODE; 284 285 ret = adis_init(st, indio_dev, spi, &adis16209_data); 286 if (ret) 287 return ret; 288 289 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL); 290 if (ret) 291 return ret; 292 293 ret = adis_initial_startup(st); 294 if (ret) 295 goto error_cleanup_buffer_trigger; 296 ret = iio_device_register(indio_dev); 297 if (ret) 298 goto error_cleanup_buffer_trigger; 299 300 return 0; 301 302 error_cleanup_buffer_trigger: 303 adis_cleanup_buffer_and_trigger(st, indio_dev); 304 return ret; 305 } 306 307 static int adis16209_remove(struct spi_device *spi) 308 { 309 struct iio_dev *indio_dev = spi_get_drvdata(spi); 310 struct adis *st = iio_priv(indio_dev); 311 312 iio_device_unregister(indio_dev); 313 adis_cleanup_buffer_and_trigger(st, indio_dev); 314 315 return 0; 316 } 317 318 static struct spi_driver adis16209_driver = { 319 .driver = { 320 .name = "adis16209", 321 }, 322 .probe = adis16209_probe, 323 .remove = adis16209_remove, 324 }; 325 module_spi_driver(adis16209_driver); 326 327 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 328 MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer"); 329 MODULE_LICENSE("GPL v2"); 330 MODULE_ALIAS("spi:adis16209"); 331