drivers/iio/accel/adis16201.c

   1 // SPDX-License-Identifier: GPL-2.0-or-later
   2 /*
   3  * ADIS16201 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 ADIS16201_STARTUP_DELAY_MS                      220
  17 #define ADIS16201_FLASH_CNT                             0x00
  18
  19 /* Data Output Register Information */
  20 #define ADIS16201_SUPPLY_OUT_REG                        0x02
  21 #define ADIS16201_XACCL_OUT_REG                         0x04
  22 #define ADIS16201_YACCL_OUT_REG                         0x06
  23 #define ADIS16201_AUX_ADC_REG                           0x08
  24 #define ADIS16201_TEMP_OUT_REG                          0x0A
  25 #define ADIS16201_XINCL_OUT_REG                         0x0C
  26 #define ADIS16201_YINCL_OUT_REG                         0x0E
  27
  28 /* Calibration Register Definition */
  29 #define ADIS16201_XACCL_OFFS_REG                        0x10
  30 #define ADIS16201_YACCL_OFFS_REG                        0x12
  31 #define ADIS16201_XACCL_SCALE_REG                       0x14
  32 #define ADIS16201_YACCL_SCALE_REG                       0x16
  33 #define ADIS16201_XINCL_OFFS_REG                        0x18
  34 #define ADIS16201_YINCL_OFFS_REG                        0x1A
  35 #define ADIS16201_XINCL_SCALE_REG                       0x1C
  36 #define ADIS16201_YINCL_SCALE_REG                       0x1E
  37
  38 /* Alarm Register Definition */
  39 #define ADIS16201_ALM_MAG1_REG                          0x20
  40 #define ADIS16201_ALM_MAG2_REG                          0x22
  41 #define ADIS16201_ALM_SMPL1_REG                         0x24
  42 #define ADIS16201_ALM_SMPL2_REG                         0x26
  43 #define ADIS16201_ALM_CTRL_REG                          0x28
  44
  45 #define ADIS16201_AUX_DAC_REG                           0x30
  46 #define ADIS16201_GPIO_CTRL_REG                         0x32
  47 #define ADIS16201_SMPL_PRD_REG                          0x36
  48 /* Operation, filter configuration */
  49 #define ADIS16201_AVG_CNT_REG                           0x38
  50 #define ADIS16201_SLP_CNT_REG                           0x3A
  51
  52 /* Miscellaneous Control Register Definition */
  53 #define ADIS16201_MSC_CTRL_REG                          0x34
  54 #define  ADIS16201_MSC_CTRL_SELF_TEST_EN                BIT(8)
  55 /* Data-ready enable: 1 = enabled, 0 = disabled */
  56 #define  ADIS16201_MSC_CTRL_DATA_RDY_EN                 BIT(2)
  57 /* Data-ready polarity: 1 = active high, 0 = active low */
  58 #define  ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH        BIT(1)
  59 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
  60 #define  ADIS16201_MSC_CTRL_DATA_RDY_DIO1               BIT(0)
  61
  62 /* Diagnostics System Status Register Definition */
  63 #define ADIS16201_DIAG_STAT_REG                         0x3C
  64 #define  ADIS16201_DIAG_STAT_ALARM2                     BIT(9)
  65 #define  ADIS16201_DIAG_STAT_ALARM1                     BIT(8)
  66 #define  ADIS16201_DIAG_STAT_SPI_FAIL_BIT               3
  67 #define  ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT         2
  68 /* Power supply above 3.625 V */
  69 #define  ADIS16201_DIAG_STAT_POWER_HIGH_BIT             1
  70 /* Power supply below 2.975 V */
  71 #define  ADIS16201_DIAG_STAT_POWER_LOW_BIT              0
  72
  73 /* System Command Register Definition */
  74 #define ADIS16201_GLOB_CMD_REG                          0x3E
  75 #define  ADIS16201_GLOB_CMD_SW_RESET                    BIT(7)
  76 #define  ADIS16201_GLOB_CMD_FACTORY_RESET               BIT(1)
  77
  78 #define ADIS16201_ERROR_ACTIVE                          BIT(14)
  79
  80 enum adis16201_scan {
  81         ADIS16201_SCAN_ACC_X,
  82         ADIS16201_SCAN_ACC_Y,
  83         ADIS16201_SCAN_INCLI_X,
  84         ADIS16201_SCAN_INCLI_Y,
  85         ADIS16201_SCAN_SUPPLY,
  86         ADIS16201_SCAN_AUX_ADC,
  87         ADIS16201_SCAN_TEMP,
  88 };
  89
  90 static const u8 adis16201_addresses[] = {
  91         [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG,
  92         [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG,
  93         [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG,
  94         [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG,
  95 };
  96
  97 static int adis16201_read_raw(struct iio_dev *indio_dev,
  98                               struct iio_chan_spec const *chan,
  99                               int *val, int *val2,
 100                               long mask)
 101 {
 102         struct adis *st = iio_priv(indio_dev);
 103         int ret;
 104         int bits;
 105         u8 addr;
 106         s16 val16;
 107
 108         switch (mask) {
 109         case IIO_CHAN_INFO_RAW:
 110                 return adis_single_conversion(indio_dev, chan,
 111                                               ADIS16201_ERROR_ACTIVE, val);
 112         case IIO_CHAN_INFO_SCALE:
 113                 switch (chan->type) {
 114                 case IIO_VOLTAGE:
 115                         if (chan->channel == 0) {
 116                         /* Voltage base units are mV hence 1.22 mV */
 117                                 *val = 1;
 118                                 *val2 = 220000;
 119                         } else {
 120                         /* Voltage base units are mV hence 0.61 mV */
 121                                 *val = 0;
 122                                 *val2 = 610000;
 123                         }
 124                         return IIO_VAL_INT_PLUS_MICRO;
 125                 case IIO_TEMP:
 126                         *val = -470;
 127                         *val2 = 0;
 128                         return IIO_VAL_INT_PLUS_MICRO;
 129                 case IIO_ACCEL:
 130                         /*
 131                          * IIO base unit for sensitivity of accelerometer
 132                          * is milli g.
 133                          * 1 LSB represents 0.244 mg.
 134                          */
 135                         *val = 0;
 136                         *val2 = IIO_G_TO_M_S_2(462400);
 137                         return IIO_VAL_INT_PLUS_NANO;
 138                 case IIO_INCLI:
 139                         *val = 0;
 140                         *val2 = 100000;
 141                         return IIO_VAL_INT_PLUS_MICRO;
 142                 default:
 143                         return -EINVAL;
 144                 }
 145                 break;
 146         case IIO_CHAN_INFO_OFFSET:
 147                 /*
 148                  * The raw ADC value is 1278 when the temperature
 149                  * is 25 degrees and the scale factor per milli
 150                  * degree celcius is -470.
 151                  */
 152                 *val = 25000 / -470 - 1278;
 153                 return IIO_VAL_INT;
 154         case IIO_CHAN_INFO_CALIBBIAS:
 155                 switch (chan->type) {
 156                 case IIO_ACCEL:
 157                         bits = 12;
 158                         break;
 159                 case IIO_INCLI:
 160                         bits = 9;
 161                         break;
 162                 default:
 163                         return -EINVAL;
 164                 }
 165                 addr = adis16201_addresses[chan->scan_index];
 166                 ret = adis_read_reg_16(st, addr, &val16);
 167                 if (ret)
 168                         return ret;
 169
 170                 *val = sign_extend32(val16, bits - 1);
 171                 return IIO_VAL_INT;
 172         }
 173
 174         return -EINVAL;
 175 }
 176
 177 static int adis16201_write_raw(struct iio_dev *indio_dev,
 178                                struct iio_chan_spec const *chan,
 179                                int val,
 180                                int val2,
 181                                long mask)
 182 {
 183         struct adis *st = iio_priv(indio_dev);
 184         int m;
 185
 186         if (mask != IIO_CHAN_INFO_CALIBBIAS)
 187                 return -EINVAL;
 188
 189         switch (chan->type) {
 190         case IIO_ACCEL:
 191                 m = GENMASK(11, 0);
 192                 break;
 193         case IIO_INCLI:
 194                 m = GENMASK(8, 0);
 195                 break;
 196         default:
 197                 return -EINVAL;
 198         }
 199
 200         return adis_write_reg_16(st, adis16201_addresses[chan->scan_index],
 201                                  val & m);
 202 }
 203
 204 static const struct iio_chan_spec adis16201_channels[] = {
 205         ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0,
 206                          12),
 207         ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
 208         ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X,
 209                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 210         ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y,
 211                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 212         ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12),
 213         ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X,
 214                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 215         ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y,
 216                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 217         IIO_CHAN_SOFT_TIMESTAMP(7)
 218 };
 219
 220 static const struct iio_info adis16201_info = {
 221         .read_raw = adis16201_read_raw,
 222         .write_raw = adis16201_write_raw,
 223         .update_scan_mode = adis_update_scan_mode,
 224 };
 225
 226 static const char * const adis16201_status_error_msgs[] = {
 227         [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
 228         [ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
 229         [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
 230         [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
 231 };
 232
 233 static const struct adis_timeout adis16201_timeouts = {
 234         .reset_ms = ADIS16201_STARTUP_DELAY_MS,
 235         .sw_reset_ms = ADIS16201_STARTUP_DELAY_MS,
 236         .self_test_ms = ADIS16201_STARTUP_DELAY_MS,
 237 };
 238
 239 static const struct adis_data adis16201_data = {
 240         .read_delay = 20,
 241         .msc_ctrl_reg = ADIS16201_MSC_CTRL_REG,
 242         .glob_cmd_reg = ADIS16201_GLOB_CMD_REG,
 243         .diag_stat_reg = ADIS16201_DIAG_STAT_REG,
 244
 245         .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
 246         .self_test_reg = ADIS16201_MSC_CTRL_REG,
 247         .self_test_no_autoclear = true,
 248         .timeouts = &adis16201_timeouts,
 249
 250         .status_error_msgs = adis16201_status_error_msgs,
 251         .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
 252                 BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
 253                 BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
 254                 BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
 255 };
 256
 257 static int adis16201_probe(struct spi_device *spi)
 258 {
 259         struct iio_dev *indio_dev;
 260         struct adis *st;
 261         int ret;
 262
 263         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 264         if (!indio_dev)
 265                 return -ENOMEM;
 266
 267         st = iio_priv(indio_dev);
 268
 269         indio_dev->name = spi->dev.driver->name;
 270         indio_dev->info = &adis16201_info;
 271
 272         indio_dev->channels = adis16201_channels;
 273         indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
 274         indio_dev->modes = INDIO_DIRECT_MODE;
 275
 276         ret = adis_init(st, indio_dev, spi, &adis16201_data);
 277         if (ret)
 278                 return ret;
 279
 280         ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
 281         if (ret)
 282                 return ret;
 283
 284         ret = __adis_initial_startup(st);
 285         if (ret)
 286                 return ret;
 287
 288         return devm_iio_device_register(&spi->dev, indio_dev);
 289 }
 290
 291 static struct spi_driver adis16201_driver = {
 292         .driver = {
 293                 .name = "adis16201",
 294         },
 295         .probe = adis16201_probe,
 296 };
 297 module_spi_driver(adis16201_driver);
 298
 299 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 300 MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
 301 MODULE_LICENSE("GPL v2");
 302 MODULE_ALIAS("spi:adis16201");
 303 MODULE_IMPORT_NS(IIO_ADISLIB);