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315 lines
8.5 KiB
315 lines
8.5 KiB
// SPDX-License-Identifier: GPL-2.0-or-later |
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/* |
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* ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer |
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* |
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* Copyright 2010 Analog Devices Inc. |
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*/ |
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#include <linux/device.h> |
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#include <linux/kernel.h> |
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#include <linux/list.h> |
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#include <linux/module.h> |
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#include <linux/spi/spi.h> |
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#include <linux/slab.h> |
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#include <linux/sysfs.h> |
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#include <linux/iio/iio.h> |
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#include <linux/iio/imu/adis.h> |
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#define ADIS16209_STARTUP_DELAY_MS 220 |
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#define ADIS16209_FLASH_CNT_REG 0x00 |
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/* Data Output Register Definitions */ |
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#define ADIS16209_SUPPLY_OUT_REG 0x02 |
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#define ADIS16209_XACCL_OUT_REG 0x04 |
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#define ADIS16209_YACCL_OUT_REG 0x06 |
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/* Output, auxiliary ADC input */ |
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#define ADIS16209_AUX_ADC_REG 0x08 |
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/* Output, temperature */ |
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#define ADIS16209_TEMP_OUT_REG 0x0A |
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/* Output, +/- 90 degrees X-axis inclination */ |
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#define ADIS16209_XINCL_OUT_REG 0x0C |
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#define ADIS16209_YINCL_OUT_REG 0x0E |
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/* Output, +/-180 vertical rotational position */ |
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#define ADIS16209_ROT_OUT_REG 0x10 |
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/* |
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* Calibration Register Definitions. |
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* Acceleration, inclination or rotation offset null. |
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*/ |
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#define ADIS16209_XACCL_NULL_REG 0x12 |
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#define ADIS16209_YACCL_NULL_REG 0x14 |
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#define ADIS16209_XINCL_NULL_REG 0x16 |
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#define ADIS16209_YINCL_NULL_REG 0x18 |
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#define ADIS16209_ROT_NULL_REG 0x1A |
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/* Alarm Register Definitions */ |
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#define ADIS16209_ALM_MAG1_REG 0x20 |
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#define ADIS16209_ALM_MAG2_REG 0x22 |
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#define ADIS16209_ALM_SMPL1_REG 0x24 |
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#define ADIS16209_ALM_SMPL2_REG 0x26 |
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#define ADIS16209_ALM_CTRL_REG 0x28 |
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#define ADIS16209_AUX_DAC_REG 0x30 |
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#define ADIS16209_GPIO_CTRL_REG 0x32 |
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#define ADIS16209_SMPL_PRD_REG 0x36 |
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#define ADIS16209_AVG_CNT_REG 0x38 |
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#define ADIS16209_SLP_CNT_REG 0x3A |
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#define ADIS16209_MSC_CTRL_REG 0x34 |
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#define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10) |
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#define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8) |
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#define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2) |
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/* Data-ready polarity: 1 = active high, 0 = active low */ |
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#define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1) |
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#define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0) |
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#define ADIS16209_STAT_REG 0x3C |
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#define ADIS16209_STAT_ALARM2 BIT(9) |
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#define ADIS16209_STAT_ALARM1 BIT(8) |
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#define ADIS16209_STAT_SELFTEST_FAIL_BIT 5 |
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#define ADIS16209_STAT_SPI_FAIL_BIT 3 |
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#define ADIS16209_STAT_FLASH_UPT_FAIL_BIT 2 |
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/* Power supply above 3.625 V */ |
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#define ADIS16209_STAT_POWER_HIGH_BIT 1 |
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/* Power supply below 2.975 V */ |
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#define ADIS16209_STAT_POWER_LOW_BIT 0 |
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#define ADIS16209_CMD_REG 0x3E |
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#define ADIS16209_CMD_SW_RESET BIT(7) |
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#define ADIS16209_CMD_CLEAR_STAT BIT(4) |
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#define ADIS16209_CMD_FACTORY_CAL BIT(1) |
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#define ADIS16209_ERROR_ACTIVE BIT(14) |
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enum adis16209_scan { |
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ADIS16209_SCAN_SUPPLY, |
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ADIS16209_SCAN_ACC_X, |
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ADIS16209_SCAN_ACC_Y, |
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ADIS16209_SCAN_AUX_ADC, |
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ADIS16209_SCAN_TEMP, |
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ADIS16209_SCAN_INCLI_X, |
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ADIS16209_SCAN_INCLI_Y, |
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ADIS16209_SCAN_ROT, |
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}; |
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static const u8 adis16209_addresses[8][1] = { |
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[ADIS16209_SCAN_SUPPLY] = { }, |
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[ADIS16209_SCAN_AUX_ADC] = { }, |
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[ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG }, |
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[ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG }, |
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[ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG }, |
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[ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG }, |
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[ADIS16209_SCAN_ROT] = { }, |
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[ADIS16209_SCAN_TEMP] = { }, |
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}; |
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static int adis16209_write_raw(struct iio_dev *indio_dev, |
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struct iio_chan_spec const *chan, |
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int val, |
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int val2, |
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long mask) |
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{ |
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struct adis *st = iio_priv(indio_dev); |
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int m; |
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if (mask != IIO_CHAN_INFO_CALIBBIAS) |
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return -EINVAL; |
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switch (chan->type) { |
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case IIO_ACCEL: |
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case IIO_INCLI: |
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m = GENMASK(13, 0); |
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break; |
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default: |
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return -EINVAL; |
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} |
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return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0], |
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val & m); |
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} |
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static int adis16209_read_raw(struct iio_dev *indio_dev, |
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struct iio_chan_spec const *chan, |
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int *val, int *val2, |
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long mask) |
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{ |
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struct adis *st = iio_priv(indio_dev); |
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int ret; |
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int bits; |
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u8 addr; |
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s16 val16; |
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switch (mask) { |
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case IIO_CHAN_INFO_RAW: |
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return adis_single_conversion(indio_dev, chan, |
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ADIS16209_ERROR_ACTIVE, val); |
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case IIO_CHAN_INFO_SCALE: |
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switch (chan->type) { |
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case IIO_VOLTAGE: |
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*val = 0; |
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switch (chan->channel) { |
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case 0: |
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*val2 = 305180; /* 0.30518 mV */ |
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break; |
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case 1: |
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*val2 = 610500; /* 0.6105 mV */ |
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break; |
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default: |
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return -EINVAL; |
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} |
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return IIO_VAL_INT_PLUS_MICRO; |
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case IIO_TEMP: |
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*val = -470; |
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*val2 = 0; |
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return IIO_VAL_INT_PLUS_MICRO; |
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case IIO_ACCEL: |
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/* |
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* IIO base unit for sensitivity of accelerometer |
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* is milli g. |
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* 1 LSB represents 0.244 mg. |
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*/ |
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*val = 0; |
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*val2 = IIO_G_TO_M_S_2(244140); |
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return IIO_VAL_INT_PLUS_NANO; |
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case IIO_INCLI: |
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case IIO_ROT: |
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/* |
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* IIO base units for rotation are degrees. |
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* 1 LSB represents 0.025 milli degrees. |
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*/ |
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*val = 0; |
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*val2 = 25000; |
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return IIO_VAL_INT_PLUS_MICRO; |
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default: |
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return -EINVAL; |
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} |
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break; |
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case IIO_CHAN_INFO_OFFSET: |
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/* |
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* The raw ADC value is 0x4FE when the temperature |
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* is 45 degrees and the scale factor per milli |
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* degree celcius is -470. |
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*/ |
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*val = 25000 / -470 - 0x4FE; |
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return IIO_VAL_INT; |
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case IIO_CHAN_INFO_CALIBBIAS: |
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switch (chan->type) { |
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case IIO_ACCEL: |
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bits = 14; |
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break; |
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default: |
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return -EINVAL; |
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} |
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addr = adis16209_addresses[chan->scan_index][0]; |
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ret = adis_read_reg_16(st, addr, &val16); |
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if (ret) |
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return ret; |
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*val = sign_extend32(val16, bits - 1); |
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return IIO_VAL_INT; |
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} |
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return -EINVAL; |
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} |
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static const struct iio_chan_spec adis16209_channels[] = { |
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ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY, |
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0, 14), |
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ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12), |
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ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X, |
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BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
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ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y, |
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BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
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ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12), |
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ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X, |
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0, 0, 14), |
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ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y, |
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0, 0, 14), |
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ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14), |
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IIO_CHAN_SOFT_TIMESTAMP(8) |
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}; |
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static const struct iio_info adis16209_info = { |
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.read_raw = adis16209_read_raw, |
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.write_raw = adis16209_write_raw, |
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.update_scan_mode = adis_update_scan_mode, |
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}; |
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static const char * const adis16209_status_error_msgs[] = { |
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[ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure", |
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[ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure", |
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[ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed", |
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[ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", |
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[ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 2.975V", |
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}; |
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static const struct adis_timeout adis16209_timeouts = { |
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.reset_ms = ADIS16209_STARTUP_DELAY_MS, |
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.self_test_ms = ADIS16209_STARTUP_DELAY_MS, |
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.sw_reset_ms = ADIS16209_STARTUP_DELAY_MS, |
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}; |
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static const struct adis_data adis16209_data = { |
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.read_delay = 30, |
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.msc_ctrl_reg = ADIS16209_MSC_CTRL_REG, |
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.glob_cmd_reg = ADIS16209_CMD_REG, |
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.diag_stat_reg = ADIS16209_STAT_REG, |
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.self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN, |
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.self_test_reg = ADIS16209_MSC_CTRL_REG, |
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.self_test_no_autoclear = true, |
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.timeouts = &adis16209_timeouts, |
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.status_error_msgs = adis16209_status_error_msgs, |
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.status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) | |
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BIT(ADIS16209_STAT_SPI_FAIL_BIT) | |
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BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) | |
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BIT(ADIS16209_STAT_POWER_HIGH_BIT) | |
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BIT(ADIS16209_STAT_POWER_LOW_BIT), |
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}; |
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static int adis16209_probe(struct spi_device *spi) |
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{ |
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struct iio_dev *indio_dev; |
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struct adis *st; |
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int ret; |
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indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
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if (!indio_dev) |
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return -ENOMEM; |
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st = iio_priv(indio_dev); |
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indio_dev->name = spi->dev.driver->name; |
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indio_dev->info = &adis16209_info; |
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indio_dev->channels = adis16209_channels; |
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indio_dev->num_channels = ARRAY_SIZE(adis16209_channels); |
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indio_dev->modes = INDIO_DIRECT_MODE; |
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ret = adis_init(st, indio_dev, spi, &adis16209_data); |
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if (ret) |
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return ret; |
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ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL); |
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if (ret) |
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return ret; |
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ret = adis_initial_startup(st); |
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if (ret) |
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return ret; |
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return devm_iio_device_register(&spi->dev, indio_dev); |
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} |
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static struct spi_driver adis16209_driver = { |
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.driver = { |
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.name = "adis16209", |
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}, |
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.probe = adis16209_probe, |
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}; |
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module_spi_driver(adis16209_driver); |
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MODULE_AUTHOR("Barry Song <[email protected]>"); |
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MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer"); |
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MODULE_LICENSE("GPL v2"); |
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MODULE_ALIAS("spi:adis16209");
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