iio/accel/adis16201.c

0001 // SPDX-License-Identifier: GPL-2.0-or-later
0002 /*
0003  * ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer
0004  *
0005  * Copyright 2010 Analog Devices Inc.
0006  */
0007
0008 #include <linux/device.h>
0009 #include <linux/kernel.h>
0010 #include <linux/module.h>
0011 #include <linux/spi/spi.h>
0012
0013 #include <linux/iio/iio.h>
0014 #include <linux/iio/imu/adis.h>
0015
0016 #define ADIS16201_STARTUP_DELAY_MS          220
0017 #define ADIS16201_FLASH_CNT             0x00
0018
0019 /* Data Output Register Information */
0020 #define ADIS16201_SUPPLY_OUT_REG            0x02
0021 #define ADIS16201_XACCL_OUT_REG             0x04
0022 #define ADIS16201_YACCL_OUT_REG             0x06
0023 #define ADIS16201_AUX_ADC_REG               0x08
0024 #define ADIS16201_TEMP_OUT_REG              0x0A
0025 #define ADIS16201_XINCL_OUT_REG             0x0C
0026 #define ADIS16201_YINCL_OUT_REG             0x0E
0027
0028 /* Calibration Register Definition */
0029 #define ADIS16201_XACCL_OFFS_REG            0x10
0030 #define ADIS16201_YACCL_OFFS_REG            0x12
0031 #define ADIS16201_XACCL_SCALE_REG           0x14
0032 #define ADIS16201_YACCL_SCALE_REG           0x16
0033 #define ADIS16201_XINCL_OFFS_REG            0x18
0034 #define ADIS16201_YINCL_OFFS_REG            0x1A
0035 #define ADIS16201_XINCL_SCALE_REG           0x1C
0036 #define ADIS16201_YINCL_SCALE_REG           0x1E
0037
0038 /* Alarm Register Definition */
0039 #define ADIS16201_ALM_MAG1_REG              0x20
0040 #define ADIS16201_ALM_MAG2_REG              0x22
0041 #define ADIS16201_ALM_SMPL1_REG             0x24
0042 #define ADIS16201_ALM_SMPL2_REG             0x26
0043 #define ADIS16201_ALM_CTRL_REG              0x28
0044
0045 #define ADIS16201_AUX_DAC_REG               0x30
0046 #define ADIS16201_GPIO_CTRL_REG             0x32
0047 #define ADIS16201_SMPL_PRD_REG              0x36
0048 /* Operation, filter configuration */
0049 #define ADIS16201_AVG_CNT_REG               0x38
0050 #define ADIS16201_SLP_CNT_REG               0x3A
0051
0052 /* Miscellaneous Control Register Definition */
0053 #define ADIS16201_MSC_CTRL_REG              0x34
0054 #define  ADIS16201_MSC_CTRL_SELF_TEST_EN        BIT(8)
0055 /* Data-ready enable: 1 = enabled, 0 = disabled */
0056 #define  ADIS16201_MSC_CTRL_DATA_RDY_EN         BIT(2)
0057 /* Data-ready polarity: 1 = active high, 0 = active low */
0058 #define  ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH    BIT(1)
0059 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
0060 #define  ADIS16201_MSC_CTRL_DATA_RDY_DIO1       BIT(0)
0061
0062 /* Diagnostics System Status Register Definition */
0063 #define ADIS16201_DIAG_STAT_REG             0x3C
0064 #define  ADIS16201_DIAG_STAT_ALARM2         BIT(9)
0065 #define  ADIS16201_DIAG_STAT_ALARM1         BIT(8)
0066 #define  ADIS16201_DIAG_STAT_SPI_FAIL_BIT       3
0067 #define  ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT     2
0068 /* Power supply above 3.625 V */
0069 #define  ADIS16201_DIAG_STAT_POWER_HIGH_BIT     1
0070 /* Power supply below 2.975 V */
0071 #define  ADIS16201_DIAG_STAT_POWER_LOW_BIT      0
0072
0073 /* System Command Register Definition */
0074 #define ADIS16201_GLOB_CMD_REG              0x3E
0075 #define  ADIS16201_GLOB_CMD_SW_RESET            BIT(7)
0076 #define  ADIS16201_GLOB_CMD_FACTORY_RESET       BIT(1)
0077
0078 #define ADIS16201_ERROR_ACTIVE              BIT(14)
0079
0080 enum adis16201_scan {
0081     ADIS16201_SCAN_ACC_X,
0082     ADIS16201_SCAN_ACC_Y,
0083     ADIS16201_SCAN_INCLI_X,
0084     ADIS16201_SCAN_INCLI_Y,
0085     ADIS16201_SCAN_SUPPLY,
0086     ADIS16201_SCAN_AUX_ADC,
0087     ADIS16201_SCAN_TEMP,
0088 };
0089
0090 static const u8 adis16201_addresses[] = {
0091     [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG,
0092     [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG,
0093     [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG,
0094     [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG,
0095 };
0096
0097 static int adis16201_read_raw(struct iio_dev *indio_dev,
0098                   struct iio_chan_spec const *chan,
0099                   int *val, int *val2,
0100                   long mask)
0101 {
0102     struct adis *st = iio_priv(indio_dev);
0103     int ret;
0104     int bits;
0105     u8 addr;
0106     s16 val16;
0107
0108     switch (mask) {
0109     case IIO_CHAN_INFO_RAW:
0110         return adis_single_conversion(indio_dev, chan,
0111                           ADIS16201_ERROR_ACTIVE, val);
0112     case IIO_CHAN_INFO_SCALE:
0113         switch (chan->type) {
0114         case IIO_VOLTAGE:
0115             if (chan->channel == 0) {
0116             /* Voltage base units are mV hence 1.22 mV */
0117                 *val = 1;
0118                 *val2 = 220000;
0119             } else {
0120             /* Voltage base units are mV hence 0.61 mV */
0121                 *val = 0;
0122                 *val2 = 610000;
0123             }
0124             return IIO_VAL_INT_PLUS_MICRO;
0125         case IIO_TEMP:
0126             *val = -470;
0127             *val2 = 0;
0128             return IIO_VAL_INT_PLUS_MICRO;
0129         case IIO_ACCEL:
0130             /*
0131              * IIO base unit for sensitivity of accelerometer
0132              * is milli g.
0133              * 1 LSB represents 0.244 mg.
0134              */
0135             *val = 0;
0136             *val2 = IIO_G_TO_M_S_2(462400);
0137             return IIO_VAL_INT_PLUS_NANO;
0138         case IIO_INCLI:
0139             *val = 0;
0140             *val2 = 100000;
0141             return IIO_VAL_INT_PLUS_MICRO;
0142         default:
0143             return -EINVAL;
0144         }
0145         break;
0146     case IIO_CHAN_INFO_OFFSET:
0147         /*
0148          * The raw ADC value is 1278 when the temperature
0149          * is 25 degrees and the scale factor per milli
0150          * degree celcius is -470.
0151          */
0152         *val = 25000 / -470 - 1278;
0153         return IIO_VAL_INT;
0154     case IIO_CHAN_INFO_CALIBBIAS:
0155         switch (chan->type) {
0156         case IIO_ACCEL:
0157             bits = 12;
0158             break;
0159         case IIO_INCLI:
0160             bits = 9;
0161             break;
0162         default:
0163             return -EINVAL;
0164         }
0165         addr = adis16201_addresses[chan->scan_index];
0166         ret = adis_read_reg_16(st, addr, &val16);
0167         if (ret)
0168             return ret;
0169
0170         *val = sign_extend32(val16, bits - 1);
0171         return IIO_VAL_INT;
0172     }
0173
0174     return -EINVAL;
0175 }
0176
0177 static int adis16201_write_raw(struct iio_dev *indio_dev,
0178                    struct iio_chan_spec const *chan,
0179                    int val,
0180                    int val2,
0181                    long mask)
0182 {
0183     struct adis *st = iio_priv(indio_dev);
0184     int m;
0185
0186     if (mask != IIO_CHAN_INFO_CALIBBIAS)
0187         return -EINVAL;
0188
0189     switch (chan->type) {
0190     case IIO_ACCEL:
0191         m = GENMASK(11, 0);
0192         break;
0193     case IIO_INCLI:
0194         m = GENMASK(8, 0);
0195         break;
0196     default:
0197         return -EINVAL;
0198     }
0199
0200     return adis_write_reg_16(st, adis16201_addresses[chan->scan_index],
0201                  val & m);
0202 }
0203
0204 static const struct iio_chan_spec adis16201_channels[] = {
0205     ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0,
0206              12),
0207     ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
0208     ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X,
0209             BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
0210     ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y,
0211             BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
0212     ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12),
0213     ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X,
0214             BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
0215     ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y,
0216             BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
0217     IIO_CHAN_SOFT_TIMESTAMP(7)
0218 };
0219
0220 static const struct iio_info adis16201_info = {
0221     .read_raw = adis16201_read_raw,
0222     .write_raw = adis16201_write_raw,
0223     .update_scan_mode = adis_update_scan_mode,
0224 };
0225
0226 static const char * const adis16201_status_error_msgs[] = {
0227     [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
0228     [ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
0229     [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
0230     [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
0231 };
0232
0233 static const struct adis_timeout adis16201_timeouts = {
0234     .reset_ms = ADIS16201_STARTUP_DELAY_MS,
0235     .sw_reset_ms = ADIS16201_STARTUP_DELAY_MS,
0236     .self_test_ms = ADIS16201_STARTUP_DELAY_MS,
0237 };
0238
0239 static const struct adis_data adis16201_data = {
0240     .read_delay = 20,
0241     .msc_ctrl_reg = ADIS16201_MSC_CTRL_REG,
0242     .glob_cmd_reg = ADIS16201_GLOB_CMD_REG,
0243     .diag_stat_reg = ADIS16201_DIAG_STAT_REG,
0244
0245     .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
0246     .self_test_reg = ADIS16201_MSC_CTRL_REG,
0247     .self_test_no_autoclear = true,
0248     .timeouts = &adis16201_timeouts,
0249
0250     .status_error_msgs = adis16201_status_error_msgs,
0251     .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
0252         BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
0253         BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
0254         BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
0255 };
0256
0257 static int adis16201_probe(struct spi_device *spi)
0258 {
0259     struct iio_dev *indio_dev;
0260     struct adis *st;
0261     int ret;
0262
0263     indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
0264     if (!indio_dev)
0265         return -ENOMEM;
0266
0267     st = iio_priv(indio_dev);
0268
0269     indio_dev->name = spi->dev.driver->name;
0270     indio_dev->info = &adis16201_info;
0271
0272     indio_dev->channels = adis16201_channels;
0273     indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
0274     indio_dev->modes = INDIO_DIRECT_MODE;
0275
0276     ret = adis_init(st, indio_dev, spi, &adis16201_data);
0277     if (ret)
0278         return ret;
0279
0280     ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
0281     if (ret)
0282         return ret;
0283
0284     ret = adis_initial_startup(st);
0285     if (ret)
0286         return ret;
0287
0288     return devm_iio_device_register(&spi->dev, indio_dev);
0289 }
0290
0291 static struct spi_driver adis16201_driver = {
0292     .driver = {
0293         .name = "adis16201",
0294     },
0295     .probe = adis16201_probe,
0296 };
0297 module_spi_driver(adis16201_driver);
0298
0299 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
0300 MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
0301 MODULE_LICENSE("GPL v2");
0302 MODULE_ALIAS("spi:adis16201");
0303 MODULE_IMPORT_NS(IIO_ADISLIB);