drivers/iio/accel/adis16209.c

   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2 /*
   3  * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer
   4  *
   5  * Copyright 2010 Analog Devices Inc.
   6  */
   7
   8 #include <linux/device.h>
   9 #include <linux/kernel.h>
  10 #include <linux/module.h>
  11 #include <linux/spi/spi.h>
  12
  13 #include <linux/iio/iio.h>
  14 #include <linux/iio/imu/adis.h>
  15
  16 #define ADIS16209_STARTUP_DELAY_MS      220
  17 #define ADIS16209_FLASH_CNT_REG         0x00
  18
  19 /* Data Output Register Definitions */
  20 #define ADIS16209_SUPPLY_OUT_REG        0x02
  21 #define ADIS16209_XACCL_OUT_REG         0x04
  22 #define ADIS16209_YACCL_OUT_REG         0x06
  23 /* Output, auxiliary ADC input */
  24 #define ADIS16209_AUX_ADC_REG           0x08
  25 /* Output, temperature */
  26 #define ADIS16209_TEMP_OUT_REG          0x0A
  27 /* Output, +/- 90 degrees X-axis inclination */
  28 #define ADIS16209_XINCL_OUT_REG         0x0C
  29 #define ADIS16209_YINCL_OUT_REG         0x0E
  30 /* Output, +/-180 vertical rotational position */
  31 #define ADIS16209_ROT_OUT_REG           0x10
  32
  33 /*
  34  * Calibration Register Definitions.
  35  * Acceleration, inclination or rotation offset null.
  36  */
  37 #define ADIS16209_XACCL_NULL_REG        0x12
  38 #define ADIS16209_YACCL_NULL_REG        0x14
  39 #define ADIS16209_XINCL_NULL_REG        0x16
  40 #define ADIS16209_YINCL_NULL_REG        0x18
  41 #define ADIS16209_ROT_NULL_REG          0x1A
  42
  43 /* Alarm Register Definitions */
  44 #define ADIS16209_ALM_MAG1_REG          0x20
  45 #define ADIS16209_ALM_MAG2_REG          0x22
  46 #define ADIS16209_ALM_SMPL1_REG         0x24
  47 #define ADIS16209_ALM_SMPL2_REG         0x26
  48 #define ADIS16209_ALM_CTRL_REG          0x28
  49
  50 #define ADIS16209_AUX_DAC_REG           0x30
  51 #define ADIS16209_GPIO_CTRL_REG         0x32
  52 #define ADIS16209_SMPL_PRD_REG          0x36
  53 #define ADIS16209_AVG_CNT_REG           0x38
  54 #define ADIS16209_SLP_CNT_REG           0x3A
  55
  56 #define ADIS16209_MSC_CTRL_REG                  0x34
  57 #define  ADIS16209_MSC_CTRL_PWRUP_SELF_TEST     BIT(10)
  58 #define  ADIS16209_MSC_CTRL_SELF_TEST_EN        BIT(8)
  59 #define  ADIS16209_MSC_CTRL_DATA_RDY_EN         BIT(2)
  60 /* Data-ready polarity: 1 = active high, 0 = active low */
  61 #define  ADIS16209_MSC_CTRL_ACTIVE_HIGH         BIT(1)
  62 #define  ADIS16209_MSC_CTRL_DATA_RDY_DIO2       BIT(0)
  63
  64 #define ADIS16209_STAT_REG                      0x3C
  65 #define  ADIS16209_STAT_ALARM2                  BIT(9)
  66 #define  ADIS16209_STAT_ALARM1                  BIT(8)
  67 #define  ADIS16209_STAT_SELFTEST_FAIL_BIT       5
  68 #define  ADIS16209_STAT_SPI_FAIL_BIT            3
  69 #define  ADIS16209_STAT_FLASH_UPT_FAIL_BIT      2
  70 /* Power supply above 3.625 V */
  71 #define  ADIS16209_STAT_POWER_HIGH_BIT          1
  72 /* Power supply below 2.975 V */
  73 #define  ADIS16209_STAT_POWER_LOW_BIT           0
  74
  75 #define ADIS16209_CMD_REG                       0x3E
  76 #define  ADIS16209_CMD_SW_RESET                 BIT(7)
  77 #define  ADIS16209_CMD_CLEAR_STAT               BIT(4)
  78 #define  ADIS16209_CMD_FACTORY_CAL              BIT(1)
  79
  80 #define ADIS16209_ERROR_ACTIVE                  BIT(14)
  81
  82 enum adis16209_scan {
  83         ADIS16209_SCAN_SUPPLY,
  84         ADIS16209_SCAN_ACC_X,
  85         ADIS16209_SCAN_ACC_Y,
  86         ADIS16209_SCAN_AUX_ADC,
  87         ADIS16209_SCAN_TEMP,
  88         ADIS16209_SCAN_INCLI_X,
  89         ADIS16209_SCAN_INCLI_Y,
  90         ADIS16209_SCAN_ROT,
  91 };
  92
  93 static const u8 adis16209_addresses[8][1] = {
  94         [ADIS16209_SCAN_SUPPLY] = { },
  95         [ADIS16209_SCAN_AUX_ADC] = { },
  96         [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG },
  97         [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG },
  98         [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG },
  99         [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG },
 100         [ADIS16209_SCAN_ROT] = { },
 101         [ADIS16209_SCAN_TEMP] = { },
 102 };
 103
 104 static int adis16209_write_raw(struct iio_dev *indio_dev,
 105                                struct iio_chan_spec const *chan,
 106                                int val,
 107                                int val2,
 108                                long mask)
 109 {
 110         struct adis *st = iio_priv(indio_dev);
 111         int m;
 112
 113         if (mask != IIO_CHAN_INFO_CALIBBIAS)
 114                 return -EINVAL;
 115
 116         switch (chan->type) {
 117         case IIO_ACCEL:
 118         case IIO_INCLI:
 119                 m = GENMASK(13, 0);
 120                 break;
 121         default:
 122                 return -EINVAL;
 123         }
 124
 125         return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0],
 126                                  val & m);
 127 }
 128
 129 static int adis16209_read_raw(struct iio_dev *indio_dev,
 130                               struct iio_chan_spec const *chan,
 131                               int *val, int *val2,
 132                               long mask)
 133 {
 134         struct adis *st = iio_priv(indio_dev);
 135         int ret;
 136         int bits;
 137         u8 addr;
 138         s16 val16;
 139
 140         switch (mask) {
 141         case IIO_CHAN_INFO_RAW:
 142                 return adis_single_conversion(indio_dev, chan,
 143                         ADIS16209_ERROR_ACTIVE, val);
 144         case IIO_CHAN_INFO_SCALE:
 145                 switch (chan->type) {
 146                 case IIO_VOLTAGE:
 147                         *val = 0;
 148                         switch (chan->channel) {
 149                         case 0:
 150                                 *val2 = 305180; /* 0.30518 mV */
 151                                 break;
 152                         case 1:
 153                                 *val2 = 610500; /* 0.6105 mV */
 154                                 break;
 155                         default:
 156                                 return -EINVAL;
 157                         }
 158                         return IIO_VAL_INT_PLUS_MICRO;
 159                 case IIO_TEMP:
 160                         *val = -470;
 161                         *val2 = 0;
 162                         return IIO_VAL_INT_PLUS_MICRO;
 163                 case IIO_ACCEL:
 164                         /*
 165                          * IIO base unit for sensitivity of accelerometer
 166                          * is milli g.
 167                          * 1 LSB represents 0.244 mg.
 168                          */
 169                         *val = 0;
 170                         *val2 = IIO_G_TO_M_S_2(244140);
 171                         return IIO_VAL_INT_PLUS_NANO;
 172                 case IIO_INCLI:
 173                 case IIO_ROT:
 174                         /*
 175                          * IIO base units for rotation are degrees.
 176                          * 1 LSB represents 0.025 milli degrees.
 177                          */
 178                         *val = 0;
 179                         *val2 = 25000;
 180                         return IIO_VAL_INT_PLUS_MICRO;
 181                 default:
 182                         return -EINVAL;
 183                 }
 184                 break;
 185         case IIO_CHAN_INFO_OFFSET:
 186                 /*
 187                  * The raw ADC value is 0x4FE when the temperature
 188                  * is 45 degrees and the scale factor per milli
 189                  * degree celcius is -470.
 190                  */
 191                 *val = 25000 / -470 - 0x4FE;
 192                 return IIO_VAL_INT;
 193         case IIO_CHAN_INFO_CALIBBIAS:
 194                 switch (chan->type) {
 195                 case IIO_ACCEL:
 196                         bits = 14;
 197                         break;
 198                 default:
 199                         return -EINVAL;
 200                 }
 201                 addr = adis16209_addresses[chan->scan_index][0];
 202                 ret = adis_read_reg_16(st, addr, &val16);
 203                 if (ret)
 204                         return ret;
 205
 206                 *val = sign_extend32(val16, bits - 1);
 207                 return IIO_VAL_INT;
 208         }
 209         return -EINVAL;
 210 }
 211
 212 static const struct iio_chan_spec adis16209_channels[] = {
 213         ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY,
 214                          0, 14),
 215         ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12),
 216         ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X,
 217                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 218         ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y,
 219                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 220         ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12),
 221         ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X,
 222                         0, 0, 14),
 223         ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y,
 224                         0, 0, 14),
 225         ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14),
 226         IIO_CHAN_SOFT_TIMESTAMP(8)
 227 };
 228
 229 static const struct iio_info adis16209_info = {
 230         .read_raw = adis16209_read_raw,
 231         .write_raw = adis16209_write_raw,
 232         .update_scan_mode = adis_update_scan_mode,
 233 };
 234
 235 static const char * const adis16209_status_error_msgs[] = {
 236         [ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
 237         [ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure",
 238         [ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
 239         [ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
 240         [ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
 241 };
 242
 243 static const struct adis_timeout adis16209_timeouts = {
 244         .reset_ms = ADIS16209_STARTUP_DELAY_MS,
 245         .self_test_ms = ADIS16209_STARTUP_DELAY_MS,
 246         .sw_reset_ms = ADIS16209_STARTUP_DELAY_MS,
 247 };
 248
 249 static const struct adis_data adis16209_data = {
 250         .read_delay = 30,
 251         .msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
 252         .glob_cmd_reg = ADIS16209_CMD_REG,
 253         .diag_stat_reg = ADIS16209_STAT_REG,
 254
 255         .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
 256         .self_test_reg = ADIS16209_MSC_CTRL_REG,
 257         .self_test_no_autoclear = true,
 258         .timeouts = &adis16209_timeouts,
 259
 260         .status_error_msgs = adis16209_status_error_msgs,
 261         .status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
 262                 BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
 263                 BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
 264                 BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
 265                 BIT(ADIS16209_STAT_POWER_LOW_BIT),
 266 };
 267
 268 static int adis16209_probe(struct spi_device *spi)
 269 {
 270         struct iio_dev *indio_dev;
 271         struct adis *st;
 272         int ret;
 273
 274         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 275         if (!indio_dev)
 276                 return -ENOMEM;
 277
 278         st = iio_priv(indio_dev);
 279
 280         indio_dev->name = spi->dev.driver->name;
 281         indio_dev->info = &adis16209_info;
 282         indio_dev->channels = adis16209_channels;
 283         indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
 284         indio_dev->modes = INDIO_DIRECT_MODE;
 285
 286         ret = adis_init(st, indio_dev, spi, &adis16209_data);
 287         if (ret)
 288                 return ret;
 289
 290         ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
 291         if (ret)
 292                 return ret;
 293
 294         ret = __adis_initial_startup(st);
 295         if (ret)
 296                 return ret;
 297
 298         return devm_iio_device_register(&spi->dev, indio_dev);
 299 }
 300
 301 static struct spi_driver adis16209_driver = {
 302         .driver = {
 303                 .name = "adis16209",
 304         },
 305         .probe = adis16209_probe,
 306 };
 307 module_spi_driver(adis16209_driver);
 308
 309 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 310 MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
 311 MODULE_LICENSE("GPL v2");
 312 MODULE_ALIAS("spi:adis16209");
 313 MODULE_IMPORT_NS("IIO_ADISLIB");