mirror of https://github.com/Qortal/Brooklyn
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
303 lines
8.3 KiB
303 lines
8.3 KiB
// SPDX-License-Identifier: GPL-2.0-or-later |
|
/* |
|
* ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer |
|
* |
|
* Copyright 2010 Analog Devices Inc. |
|
*/ |
|
|
|
#include <linux/device.h> |
|
#include <linux/kernel.h> |
|
#include <linux/module.h> |
|
#include <linux/spi/spi.h> |
|
|
|
#include <linux/iio/iio.h> |
|
#include <linux/iio/imu/adis.h> |
|
|
|
#define ADIS16201_STARTUP_DELAY_MS 220 |
|
#define ADIS16201_FLASH_CNT 0x00 |
|
|
|
/* Data Output Register Information */ |
|
#define ADIS16201_SUPPLY_OUT_REG 0x02 |
|
#define ADIS16201_XACCL_OUT_REG 0x04 |
|
#define ADIS16201_YACCL_OUT_REG 0x06 |
|
#define ADIS16201_AUX_ADC_REG 0x08 |
|
#define ADIS16201_TEMP_OUT_REG 0x0A |
|
#define ADIS16201_XINCL_OUT_REG 0x0C |
|
#define ADIS16201_YINCL_OUT_REG 0x0E |
|
|
|
/* Calibration Register Definition */ |
|
#define ADIS16201_XACCL_OFFS_REG 0x10 |
|
#define ADIS16201_YACCL_OFFS_REG 0x12 |
|
#define ADIS16201_XACCL_SCALE_REG 0x14 |
|
#define ADIS16201_YACCL_SCALE_REG 0x16 |
|
#define ADIS16201_XINCL_OFFS_REG 0x18 |
|
#define ADIS16201_YINCL_OFFS_REG 0x1A |
|
#define ADIS16201_XINCL_SCALE_REG 0x1C |
|
#define ADIS16201_YINCL_SCALE_REG 0x1E |
|
|
|
/* Alarm Register Definition */ |
|
#define ADIS16201_ALM_MAG1_REG 0x20 |
|
#define ADIS16201_ALM_MAG2_REG 0x22 |
|
#define ADIS16201_ALM_SMPL1_REG 0x24 |
|
#define ADIS16201_ALM_SMPL2_REG 0x26 |
|
#define ADIS16201_ALM_CTRL_REG 0x28 |
|
|
|
#define ADIS16201_AUX_DAC_REG 0x30 |
|
#define ADIS16201_GPIO_CTRL_REG 0x32 |
|
#define ADIS16201_SMPL_PRD_REG 0x36 |
|
/* Operation, filter configuration */ |
|
#define ADIS16201_AVG_CNT_REG 0x38 |
|
#define ADIS16201_SLP_CNT_REG 0x3A |
|
|
|
/* Miscellaneous Control Register Definition */ |
|
#define ADIS16201_MSC_CTRL_REG 0x34 |
|
#define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8) |
|
/* Data-ready enable: 1 = enabled, 0 = disabled */ |
|
#define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2) |
|
/* Data-ready polarity: 1 = active high, 0 = active low */ |
|
#define ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH BIT(1) |
|
/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */ |
|
#define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0) |
|
|
|
/* Diagnostics System Status Register Definition */ |
|
#define ADIS16201_DIAG_STAT_REG 0x3C |
|
#define ADIS16201_DIAG_STAT_ALARM2 BIT(9) |
|
#define ADIS16201_DIAG_STAT_ALARM1 BIT(8) |
|
#define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3 |
|
#define ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT 2 |
|
/* Power supply above 3.625 V */ |
|
#define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1 |
|
/* Power supply below 2.975 V */ |
|
#define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0 |
|
|
|
/* System Command Register Definition */ |
|
#define ADIS16201_GLOB_CMD_REG 0x3E |
|
#define ADIS16201_GLOB_CMD_SW_RESET BIT(7) |
|
#define ADIS16201_GLOB_CMD_FACTORY_RESET BIT(1) |
|
|
|
#define ADIS16201_ERROR_ACTIVE BIT(14) |
|
|
|
enum adis16201_scan { |
|
ADIS16201_SCAN_ACC_X, |
|
ADIS16201_SCAN_ACC_Y, |
|
ADIS16201_SCAN_INCLI_X, |
|
ADIS16201_SCAN_INCLI_Y, |
|
ADIS16201_SCAN_SUPPLY, |
|
ADIS16201_SCAN_AUX_ADC, |
|
ADIS16201_SCAN_TEMP, |
|
}; |
|
|
|
static const u8 adis16201_addresses[] = { |
|
[ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG, |
|
[ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG, |
|
[ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG, |
|
[ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG, |
|
}; |
|
|
|
static int adis16201_read_raw(struct iio_dev *indio_dev, |
|
struct iio_chan_spec const *chan, |
|
int *val, int *val2, |
|
long mask) |
|
{ |
|
struct adis *st = iio_priv(indio_dev); |
|
int ret; |
|
int bits; |
|
u8 addr; |
|
s16 val16; |
|
|
|
switch (mask) { |
|
case IIO_CHAN_INFO_RAW: |
|
return adis_single_conversion(indio_dev, chan, |
|
ADIS16201_ERROR_ACTIVE, val); |
|
case IIO_CHAN_INFO_SCALE: |
|
switch (chan->type) { |
|
case IIO_VOLTAGE: |
|
if (chan->channel == 0) { |
|
/* Voltage base units are mV hence 1.22 mV */ |
|
*val = 1; |
|
*val2 = 220000; |
|
} else { |
|
/* Voltage base units are mV hence 0.61 mV */ |
|
*val = 0; |
|
*val2 = 610000; |
|
} |
|
return IIO_VAL_INT_PLUS_MICRO; |
|
case IIO_TEMP: |
|
*val = -470; |
|
*val2 = 0; |
|
return IIO_VAL_INT_PLUS_MICRO; |
|
case IIO_ACCEL: |
|
/* |
|
* IIO base unit for sensitivity of accelerometer |
|
* is milli g. |
|
* 1 LSB represents 0.244 mg. |
|
*/ |
|
*val = 0; |
|
*val2 = IIO_G_TO_M_S_2(462400); |
|
return IIO_VAL_INT_PLUS_NANO; |
|
case IIO_INCLI: |
|
*val = 0; |
|
*val2 = 100000; |
|
return IIO_VAL_INT_PLUS_MICRO; |
|
default: |
|
return -EINVAL; |
|
} |
|
break; |
|
case IIO_CHAN_INFO_OFFSET: |
|
/* |
|
* The raw ADC value is 1278 when the temperature |
|
* is 25 degrees and the scale factor per milli |
|
* degree celcius is -470. |
|
*/ |
|
*val = 25000 / -470 - 1278; |
|
return IIO_VAL_INT; |
|
case IIO_CHAN_INFO_CALIBBIAS: |
|
switch (chan->type) { |
|
case IIO_ACCEL: |
|
bits = 12; |
|
break; |
|
case IIO_INCLI: |
|
bits = 9; |
|
break; |
|
default: |
|
return -EINVAL; |
|
} |
|
addr = adis16201_addresses[chan->scan_index]; |
|
ret = adis_read_reg_16(st, addr, &val16); |
|
if (ret) |
|
return ret; |
|
|
|
*val = sign_extend32(val16, bits - 1); |
|
return IIO_VAL_INT; |
|
} |
|
|
|
return -EINVAL; |
|
} |
|
|
|
static int adis16201_write_raw(struct iio_dev *indio_dev, |
|
struct iio_chan_spec const *chan, |
|
int val, |
|
int val2, |
|
long mask) |
|
{ |
|
struct adis *st = iio_priv(indio_dev); |
|
int m; |
|
|
|
if (mask != IIO_CHAN_INFO_CALIBBIAS) |
|
return -EINVAL; |
|
|
|
switch (chan->type) { |
|
case IIO_ACCEL: |
|
m = GENMASK(11, 0); |
|
break; |
|
case IIO_INCLI: |
|
m = GENMASK(8, 0); |
|
break; |
|
default: |
|
return -EINVAL; |
|
} |
|
|
|
return adis_write_reg_16(st, adis16201_addresses[chan->scan_index], |
|
val & m); |
|
} |
|
|
|
static const struct iio_chan_spec adis16201_channels[] = { |
|
ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0, |
|
12), |
|
ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12), |
|
ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X, |
|
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
|
ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y, |
|
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
|
ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12), |
|
ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X, |
|
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
|
ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y, |
|
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
|
IIO_CHAN_SOFT_TIMESTAMP(7) |
|
}; |
|
|
|
static const struct iio_info adis16201_info = { |
|
.read_raw = adis16201_read_raw, |
|
.write_raw = adis16201_write_raw, |
|
.update_scan_mode = adis_update_scan_mode, |
|
}; |
|
|
|
static const char * const adis16201_status_error_msgs[] = { |
|
[ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", |
|
[ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed", |
|
[ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", |
|
[ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V", |
|
}; |
|
|
|
static const struct adis_timeout adis16201_timeouts = { |
|
.reset_ms = ADIS16201_STARTUP_DELAY_MS, |
|
.sw_reset_ms = ADIS16201_STARTUP_DELAY_MS, |
|
.self_test_ms = ADIS16201_STARTUP_DELAY_MS, |
|
}; |
|
|
|
static const struct adis_data adis16201_data = { |
|
.read_delay = 20, |
|
.msc_ctrl_reg = ADIS16201_MSC_CTRL_REG, |
|
.glob_cmd_reg = ADIS16201_GLOB_CMD_REG, |
|
.diag_stat_reg = ADIS16201_DIAG_STAT_REG, |
|
|
|
.self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN, |
|
.self_test_reg = ADIS16201_MSC_CTRL_REG, |
|
.self_test_no_autoclear = true, |
|
.timeouts = &adis16201_timeouts, |
|
|
|
.status_error_msgs = adis16201_status_error_msgs, |
|
.status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) | |
|
BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) | |
|
BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) | |
|
BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT), |
|
}; |
|
|
|
static int adis16201_probe(struct spi_device *spi) |
|
{ |
|
struct iio_dev *indio_dev; |
|
struct adis *st; |
|
int ret; |
|
|
|
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
|
if (!indio_dev) |
|
return -ENOMEM; |
|
|
|
st = iio_priv(indio_dev); |
|
|
|
indio_dev->name = spi->dev.driver->name; |
|
indio_dev->info = &adis16201_info; |
|
|
|
indio_dev->channels = adis16201_channels; |
|
indio_dev->num_channels = ARRAY_SIZE(adis16201_channels); |
|
indio_dev->modes = INDIO_DIRECT_MODE; |
|
|
|
ret = adis_init(st, indio_dev, spi, &adis16201_data); |
|
if (ret) |
|
return ret; |
|
|
|
ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL); |
|
if (ret) |
|
return ret; |
|
|
|
ret = adis_initial_startup(st); |
|
if (ret) |
|
return ret; |
|
|
|
return devm_iio_device_register(&spi->dev, indio_dev); |
|
} |
|
|
|
static struct spi_driver adis16201_driver = { |
|
.driver = { |
|
.name = "adis16201", |
|
}, |
|
.probe = adis16201_probe, |
|
}; |
|
module_spi_driver(adis16201_driver); |
|
|
|
MODULE_AUTHOR("Barry Song <[email protected]>"); |
|
MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer"); |
|
MODULE_LICENSE("GPL v2"); |
|
MODULE_ALIAS("spi:adis16201"); |
|
MODULE_IMPORT_NS(IIO_ADISLIB);
|
|
|