1 /* 2 * ADIS16203 Programmable 360 Degrees Inclinometer 3 * 4 * Copyright 2010 Analog Devices Inc. 5 * 6 * Licensed under the GPL-2 or later. 7 */ 8 9 #include <linux/delay.h> 10 #include <linux/device.h> 11 12 #include <linux/iio/buffer.h> 13 #include <linux/iio/iio.h> 14 #include <linux/iio/imu/adis.h> 15 #include <linux/iio/sysfs.h> 16 17 #include <linux/kernel.h> 18 #include <linux/module.h> 19 #include <linux/mutex.h> 20 #include <linux/slab.h> 21 #include <linux/spi/spi.h> 22 #include <linux/sysfs.h> 23 24 #define ADIS16203_STARTUP_DELAY 220 /* ms */ 25 26 /* Flash memory write count */ 27 #define ADIS16203_FLASH_CNT 0x00 28 29 /* Output, power supply */ 30 #define ADIS16203_SUPPLY_OUT 0x02 31 32 /* Output, auxiliary ADC input */ 33 #define ADIS16203_AUX_ADC 0x08 34 35 /* Output, temperature */ 36 #define ADIS16203_TEMP_OUT 0x0A 37 38 /* Output, x-axis inclination */ 39 #define ADIS16203_XINCL_OUT 0x0C 40 41 /* Output, y-axis inclination */ 42 #define ADIS16203_YINCL_OUT 0x0E 43 44 /* Incline null calibration */ 45 #define ADIS16203_INCL_NULL 0x18 46 47 /* Alarm 1 amplitude threshold */ 48 #define ADIS16203_ALM_MAG1 0x20 49 50 /* Alarm 2 amplitude threshold */ 51 #define ADIS16203_ALM_MAG2 0x22 52 53 /* Alarm 1, sample period */ 54 #define ADIS16203_ALM_SMPL1 0x24 55 56 /* Alarm 2, sample period */ 57 #define ADIS16203_ALM_SMPL2 0x26 58 59 /* Alarm control */ 60 #define ADIS16203_ALM_CTRL 0x28 61 62 /* Auxiliary DAC data */ 63 #define ADIS16203_AUX_DAC 0x30 64 65 /* General-purpose digital input/output control */ 66 #define ADIS16203_GPIO_CTRL 0x32 67 68 /* Miscellaneous control */ 69 #define ADIS16203_MSC_CTRL 0x34 70 71 /* Internal sample period (rate) control */ 72 #define ADIS16203_SMPL_PRD 0x36 73 74 /* Operation, filter configuration */ 75 #define ADIS16203_AVG_CNT 0x38 76 77 /* Operation, sleep mode control */ 78 #define ADIS16203_SLP_CNT 0x3A 79 80 /* Diagnostics, system status register */ 81 #define ADIS16203_DIAG_STAT 0x3C 82 83 /* Operation, system command register */ 84 #define ADIS16203_GLOB_CMD 0x3E 85 86 /* MSC_CTRL */ 87 88 /* Self-test at power-on: 1 = disabled, 0 = enabled */ 89 #define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST BIT(10) 90 91 /* Reverses rotation of both inclination outputs */ 92 #define ADIS16203_MSC_CTRL_REVERSE_ROT_EN BIT(9) 93 94 /* Self-test enable */ 95 #define ADIS16203_MSC_CTRL_SELF_TEST_EN BIT(8) 96 97 /* Data-ready enable: 1 = enabled, 0 = disabled */ 98 #define ADIS16203_MSC_CTRL_DATA_RDY_EN BIT(2) 99 100 /* Data-ready polarity: 1 = active high, 0 = active low */ 101 #define ADIS16203_MSC_CTRL_ACTIVE_HIGH BIT(1) 102 103 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */ 104 #define ADIS16203_MSC_CTRL_DATA_RDY_DIO1 BIT(0) 105 106 /* DIAG_STAT */ 107 108 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */ 109 #define ADIS16203_DIAG_STAT_ALARM2 BIT(9) 110 111 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */ 112 #define ADIS16203_DIAG_STAT_ALARM1 BIT(8) 113 114 /* Self-test diagnostic error flag */ 115 #define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5 116 117 /* SPI communications failure */ 118 #define ADIS16203_DIAG_STAT_SPI_FAIL_BIT 3 119 120 /* Flash update failure */ 121 #define ADIS16203_DIAG_STAT_FLASH_UPT_BIT 2 122 123 /* Power supply above 3.625 V */ 124 #define ADIS16203_DIAG_STAT_POWER_HIGH_BIT 1 125 126 /* Power supply below 3.15 V */ 127 #define ADIS16203_DIAG_STAT_POWER_LOW_BIT 0 128 129 /* GLOB_CMD */ 130 131 #define ADIS16203_GLOB_CMD_SW_RESET BIT(7) 132 #define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4) 133 #define ADIS16203_GLOB_CMD_FACTORY_CAL BIT(1) 134 135 #define ADIS16203_ERROR_ACTIVE BIT(14) 136 137 enum adis16203_scan { 138 ADIS16203_SCAN_INCLI_X, 139 ADIS16203_SCAN_INCLI_Y, 140 ADIS16203_SCAN_SUPPLY, 141 ADIS16203_SCAN_AUX_ADC, 142 ADIS16203_SCAN_TEMP, 143 }; 144 145 #define DRIVER_NAME "adis16203" 146 147 static const u8 adis16203_addresses[] = { 148 [ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL, 149 }; 150 151 static int adis16203_write_raw(struct iio_dev *indio_dev, 152 struct iio_chan_spec const *chan, 153 int val, 154 int val2, 155 long mask) 156 { 157 struct adis *st = iio_priv(indio_dev); 158 /* currently only one writable parameter which keeps this simple */ 159 u8 addr = adis16203_addresses[chan->scan_index]; 160 161 return adis_write_reg_16(st, addr, val & 0x3FFF); 162 } 163 164 static int adis16203_read_raw(struct iio_dev *indio_dev, 165 struct iio_chan_spec const *chan, 166 int *val, int *val2, 167 long mask) 168 { 169 struct adis *st = iio_priv(indio_dev); 170 int ret; 171 int bits; 172 u8 addr; 173 s16 val16; 174 175 switch (mask) { 176 case IIO_CHAN_INFO_RAW: 177 return adis_single_conversion(indio_dev, chan, 178 ADIS16203_ERROR_ACTIVE, val); 179 case IIO_CHAN_INFO_SCALE: 180 switch (chan->type) { 181 case IIO_VOLTAGE: 182 if (chan->channel == 0) { 183 *val = 1; 184 *val2 = 220000; /* 1.22 mV */ 185 } else { 186 *val = 0; 187 *val2 = 610000; /* 0.61 mV */ 188 } 189 return IIO_VAL_INT_PLUS_MICRO; 190 case IIO_TEMP: 191 *val = -470; /* -0.47 C */ 192 *val2 = 0; 193 return IIO_VAL_INT_PLUS_MICRO; 194 case IIO_INCLI: 195 *val = 0; 196 *val2 = 25000; /* 0.025 degree */ 197 return IIO_VAL_INT_PLUS_MICRO; 198 default: 199 return -EINVAL; 200 } 201 case IIO_CHAN_INFO_OFFSET: 202 *val = 25000 / -470 - 1278; /* 25 C = 1278 */ 203 return IIO_VAL_INT; 204 case IIO_CHAN_INFO_CALIBBIAS: 205 bits = 14; 206 addr = adis16203_addresses[chan->scan_index]; 207 ret = adis_read_reg_16(st, addr, &val16); 208 if (ret) 209 return ret; 210 val16 &= (1 << bits) - 1; 211 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); 212 *val = val16; 213 return IIO_VAL_INT; 214 default: 215 return -EINVAL; 216 } 217 } 218 219 static const struct iio_chan_spec adis16203_channels[] = { 220 ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12), 221 ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12), 222 ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X, 223 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), 224 /* Fixme: Not what it appears to be - see data sheet */ 225 ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y, 226 0, 0, 14), 227 ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12), 228 IIO_CHAN_SOFT_TIMESTAMP(5), 229 }; 230 231 static const struct iio_info adis16203_info = { 232 .read_raw = adis16203_read_raw, 233 .write_raw = adis16203_write_raw, 234 .update_scan_mode = adis_update_scan_mode, 235 }; 236 237 static const char * const adis16203_status_error_msgs[] = { 238 [ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure", 239 [ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 240 [ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", 241 [ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", 242 [ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V", 243 }; 244 245 static const struct adis_data adis16203_data = { 246 .read_delay = 20, 247 .msc_ctrl_reg = ADIS16203_MSC_CTRL, 248 .glob_cmd_reg = ADIS16203_GLOB_CMD, 249 .diag_stat_reg = ADIS16203_DIAG_STAT, 250 251 .self_test_mask = ADIS16203_MSC_CTRL_SELF_TEST_EN, 252 .self_test_no_autoclear = true, 253 .startup_delay = ADIS16203_STARTUP_DELAY, 254 255 .status_error_msgs = adis16203_status_error_msgs, 256 .status_error_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) | 257 BIT(ADIS16203_DIAG_STAT_SPI_FAIL_BIT) | 258 BIT(ADIS16203_DIAG_STAT_FLASH_UPT_BIT) | 259 BIT(ADIS16203_DIAG_STAT_POWER_HIGH_BIT) | 260 BIT(ADIS16203_DIAG_STAT_POWER_LOW_BIT), 261 }; 262 263 static int adis16203_probe(struct spi_device *spi) 264 { 265 int ret; 266 struct iio_dev *indio_dev; 267 struct adis *st; 268 269 /* setup the industrialio driver allocated elements */ 270 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 271 if (!indio_dev) 272 return -ENOMEM; 273 st = iio_priv(indio_dev); 274 /* this is only used for removal purposes */ 275 spi_set_drvdata(spi, indio_dev); 276 277 indio_dev->name = spi->dev.driver->name; 278 indio_dev->dev.parent = &spi->dev; 279 indio_dev->channels = adis16203_channels; 280 indio_dev->num_channels = ARRAY_SIZE(adis16203_channels); 281 indio_dev->info = &adis16203_info; 282 indio_dev->modes = INDIO_DIRECT_MODE; 283 284 ret = adis_init(st, indio_dev, spi, &adis16203_data); 285 if (ret) 286 return ret; 287 288 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL); 289 if (ret) 290 return ret; 291 292 /* Get the device into a sane initial state */ 293 ret = adis_initial_startup(st); 294 if (ret) 295 goto error_cleanup_buffer_trigger; 296 297 ret = iio_device_register(indio_dev); 298 if (ret) 299 goto error_cleanup_buffer_trigger; 300 301 return 0; 302 303 error_cleanup_buffer_trigger: 304 adis_cleanup_buffer_and_trigger(st, indio_dev); 305 return ret; 306 } 307 308 static int adis16203_remove(struct spi_device *spi) 309 { 310 struct iio_dev *indio_dev = spi_get_drvdata(spi); 311 struct adis *st = iio_priv(indio_dev); 312 313 iio_device_unregister(indio_dev); 314 adis_cleanup_buffer_and_trigger(st, indio_dev); 315 316 return 0; 317 } 318 319 static struct spi_driver adis16203_driver = { 320 .driver = { 321 .name = "adis16203", 322 }, 323 .probe = adis16203_probe, 324 .remove = adis16203_remove, 325 }; 326 module_spi_driver(adis16203_driver); 327 328 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 329 MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer"); 330 MODULE_LICENSE("GPL v2"); 331 MODULE_ALIAS("spi:adis16203"); 332