drivers/iio/accel/adis16201.c

   1 /*
   2  * ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer
   3  *
   4  * Copyright 2010 Analog Devices Inc.
   5  *
   6  * Licensed under the GPL-2 or later.
   7  */
   8
   9 #include <linux/device.h>
  10 #include <linux/kernel.h>
  11 #include <linux/module.h>
  12 #include <linux/mutex.h>
  13 #include <linux/slab.h>
  14 #include <linux/spi/spi.h>
  15 #include <linux/sysfs.h>
  16
  17 #include <linux/iio/iio.h>
  18 #include <linux/iio/imu/adis.h>
  19
  20 #define ADIS16201_STARTUP_DELAY_MS                      220
  21 #define ADIS16201_FLASH_CNT                             0x00
  22
  23 /* Data Output Register Information */
  24 #define ADIS16201_SUPPLY_OUT_REG                        0x02
  25 #define ADIS16201_XACCL_OUT_REG                         0x04
  26 #define ADIS16201_YACCL_OUT_REG                         0x06
  27 #define ADIS16201_AUX_ADC_REG                           0x08
  28 #define ADIS16201_TEMP_OUT_REG                          0x0A
  29 #define ADIS16201_XINCL_OUT_REG                         0x0C
  30 #define ADIS16201_YINCL_OUT_REG                         0x0E
  31
  32 /* Calibration Register Definition */
  33 #define ADIS16201_XACCL_OFFS_REG                        0x10
  34 #define ADIS16201_YACCL_OFFS_REG                        0x12
  35 #define ADIS16201_XACCL_SCALE_REG                       0x14
  36 #define ADIS16201_YACCL_SCALE_REG                       0x16
  37 #define ADIS16201_XINCL_OFFS_REG                        0x18
  38 #define ADIS16201_YINCL_OFFS_REG                        0x1A
  39 #define ADIS16201_XINCL_SCALE_REG                       0x1C
  40 #define ADIS16201_YINCL_SCALE_REG                       0x1E
  41
  42 /* Alarm Register Definition */
  43 #define ADIS16201_ALM_MAG1_REG                          0x20
  44 #define ADIS16201_ALM_MAG2_REG                          0x22
  45 #define ADIS16201_ALM_SMPL1_REG                         0x24
  46 #define ADIS16201_ALM_SMPL2_REG                         0x26
  47 #define ADIS16201_ALM_CTRL_REG                          0x28
  48
  49 #define ADIS16201_AUX_DAC_REG                           0x30
  50 #define ADIS16201_GPIO_CTRL_REG                         0x32
  51 #define ADIS16201_SMPL_PRD_REG                          0x36
  52 /* Operation, filter configuration */
  53 #define ADIS16201_AVG_CNT_REG                           0x38
  54 #define ADIS16201_SLP_CNT_REG                           0x3A
  55
  56 /* Miscellaneous Control Register Definition */
  57 #define ADIS16201_MSC_CTRL_REG                          0x34
  58 #define  ADIS16201_MSC_CTRL_SELF_TEST_EN                BIT(8)
  59 /* Data-ready enable: 1 = enabled, 0 = disabled */
  60 #define  ADIS16201_MSC_CTRL_DATA_RDY_EN                 BIT(2)
  61 /* Data-ready polarity: 1 = active high, 0 = active low */
  62 #define  ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH        BIT(1)
  63 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
  64 #define  ADIS16201_MSC_CTRL_DATA_RDY_DIO1               BIT(0)
  65
  66 /* Diagnostics System Status Register Definition */
  67 #define ADIS16201_DIAG_STAT_REG                         0x3C
  68 #define  ADIS16201_DIAG_STAT_ALARM2                     BIT(9)
  69 #define  ADIS16201_DIAG_STAT_ALARM1                     BIT(8)
  70 #define  ADIS16201_DIAG_STAT_SPI_FAIL_BIT               3
  71 #define  ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT         2
  72 /* Power supply above 3.625 V */
  73 #define  ADIS16201_DIAG_STAT_POWER_HIGH_BIT             1
  74 /* Power supply below 3.15 V */
  75 #define  ADIS16201_DIAG_STAT_POWER_LOW_BIT              0
  76
  77 /* System Command Register Definition */
  78 #define ADIS16201_GLOB_CMD_REG                          0x3E
  79 #define  ADIS16201_GLOB_CMD_SW_RESET                    BIT(7)
  80 #define  ADIS16201_GLOB_CMD_FACTORY_RESET               BIT(1)
  81
  82 #define ADIS16201_ERROR_ACTIVE                          BIT(14)
  83
  84 enum adis16201_scan {
  85         ADIS16201_SCAN_ACC_X,
  86         ADIS16201_SCAN_ACC_Y,
  87         ADIS16201_SCAN_INCLI_X,
  88         ADIS16201_SCAN_INCLI_Y,
  89         ADIS16201_SCAN_SUPPLY,
  90         ADIS16201_SCAN_AUX_ADC,
  91         ADIS16201_SCAN_TEMP,
  92 };
  93
  94 static const u8 adis16201_addresses[] = {
  95         [ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG,
  96         [ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG,
  97         [ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG,
  98         [ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG,
  99 };
 100
 101 static int adis16201_read_raw(struct iio_dev *indio_dev,
 102                               struct iio_chan_spec const *chan,
 103                               int *val, int *val2,
 104                               long mask)
 105 {
 106         struct adis *st = iio_priv(indio_dev);
 107         int ret;
 108         int bits;
 109         u8 addr;
 110         s16 val16;
 111
 112         switch (mask) {
 113         case IIO_CHAN_INFO_RAW:
 114                 return adis_single_conversion(indio_dev, chan,
 115                                               ADIS16201_ERROR_ACTIVE, val);
 116         case IIO_CHAN_INFO_SCALE:
 117                 switch (chan->type) {
 118                 case IIO_VOLTAGE:
 119                         if (chan->channel == 0) {
 120                         /* Voltage base units are mV hence 1.22 mV */
 121                                 *val = 1;
 122                                 *val2 = 220000;
 123                         } else {
 124                         /* Voltage base units are mV hence 0.61 mV */
 125                                 *val = 0;
 126                                 *val2 = 610000;
 127                         }
 128                         return IIO_VAL_INT_PLUS_MICRO;
 129                 case IIO_TEMP:
 130                         *val = -470;
 131                         *val2 = 0;
 132                         return IIO_VAL_INT_PLUS_MICRO;
 133                 case IIO_ACCEL:
 134                         /*
 135                          * IIO base unit for sensitivity of accelerometer
 136                          * is milli g.
 137                          * 1 LSB represents 0.244 mg.
 138                          */
 139                         *val = 0;
 140                         *val2 = IIO_G_TO_M_S_2(462400);
 141                         return IIO_VAL_INT_PLUS_NANO;
 142                 case IIO_INCLI:
 143                         *val = 0;
 144                         *val2 = 100000;
 145                         return IIO_VAL_INT_PLUS_MICRO;
 146                 default:
 147                         return -EINVAL;
 148                 }
 149                 break;
 150         case IIO_CHAN_INFO_OFFSET:
 151                 /*
 152                  * The raw ADC value is 1278 when the temperature
 153                  * is 25 degrees and the scale factor per milli
 154                  * degree celcius is -470.
 155                  */
 156                 *val = 25000 / -470 - 1278;
 157                 return IIO_VAL_INT;
 158         case IIO_CHAN_INFO_CALIBBIAS:
 159                 switch (chan->type) {
 160                 case IIO_ACCEL:
 161                         bits = 12;
 162                         break;
 163                 case IIO_INCLI:
 164                         bits = 9;
 165                         break;
 166                 default:
 167                         return -EINVAL;
 168                 }
 169                 addr = adis16201_addresses[chan->scan_index];
 170                 ret = adis_read_reg_16(st, addr, &val16);
 171                 if (ret)
 172                         return ret;
 173
 174                 *val = sign_extend32(val16, bits - 1);
 175                 return IIO_VAL_INT;
 176         }
 177
 178         return -EINVAL;
 179 }
 180
 181 static int adis16201_write_raw(struct iio_dev *indio_dev,
 182                                struct iio_chan_spec const *chan,
 183                                int val,
 184                                int val2,
 185                                long mask)
 186 {
 187         struct adis *st = iio_priv(indio_dev);
 188         int m;
 189
 190         if (mask != IIO_CHAN_INFO_CALIBBIAS)
 191                 return -EINVAL;
 192
 193         switch (chan->type) {
 194         case IIO_ACCEL:
 195                 m = GENMASK(11, 0);
 196                 break;
 197         case IIO_INCLI:
 198                 m = GENMASK(8, 0);
 199                 break;
 200         default:
 201                 return -EINVAL;
 202         }
 203
 204         return adis_write_reg_16(st, adis16201_addresses[chan->scan_index],
 205                                  val & m);
 206 }
 207
 208 static const struct iio_chan_spec adis16201_channels[] = {
 209         ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0,
 210                          12),
 211         ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
 212         ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X,
 213                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 214         ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y,
 215                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 216         ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12),
 217         ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X,
 218                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 219         ADIS_INCLI_CHAN(X, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y,
 220                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 221         IIO_CHAN_SOFT_TIMESTAMP(7)
 222 };
 223
 224 static const struct iio_info adis16201_info = {
 225         .read_raw = adis16201_read_raw,
 226         .write_raw = adis16201_write_raw,
 227         .update_scan_mode = adis_update_scan_mode,
 228 };
 229
 230 static const char * const adis16201_status_error_msgs[] = {
 231         [ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
 232         [ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
 233         [ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
 234         [ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
 235 };
 236
 237 static const struct adis_data adis16201_data = {
 238         .read_delay = 20,
 239         .msc_ctrl_reg = ADIS16201_MSC_CTRL_REG,
 240         .glob_cmd_reg = ADIS16201_GLOB_CMD_REG,
 241         .diag_stat_reg = ADIS16201_DIAG_STAT_REG,
 242
 243         .self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
 244         .self_test_no_autoclear = true,
 245         .startup_delay = ADIS16201_STARTUP_DELAY_MS,
 246
 247         .status_error_msgs = adis16201_status_error_msgs,
 248         .status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
 249                 BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
 250                 BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
 251                 BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
 252 };
 253
 254 static int adis16201_probe(struct spi_device *spi)
 255 {
 256         struct iio_dev *indio_dev;
 257         struct adis *st;
 258         int ret;
 259
 260         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 261         if (!indio_dev)
 262                 return -ENOMEM;
 263
 264         st = iio_priv(indio_dev);
 265         spi_set_drvdata(spi, indio_dev);
 266
 267         indio_dev->name = spi->dev.driver->name;
 268         indio_dev->dev.parent = &spi->dev;
 269         indio_dev->info = &adis16201_info;
 270
 271         indio_dev->channels = adis16201_channels;
 272         indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
 273         indio_dev->modes = INDIO_DIRECT_MODE;
 274
 275         ret = adis_init(st, indio_dev, spi, &adis16201_data);
 276         if (ret)
 277                 return ret;
 278
 279         ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
 280         if (ret)
 281                 return ret;
 282
 283         ret = adis_initial_startup(st);
 284         if (ret)
 285                 goto error_cleanup_buffer_trigger;
 286
 287         ret = iio_device_register(indio_dev);
 288         if (ret < 0)
 289                 goto error_cleanup_buffer_trigger;
 290
 291         return 0;
 292
 293 error_cleanup_buffer_trigger:
 294         adis_cleanup_buffer_and_trigger(st, indio_dev);
 295         return ret;
 296 }
 297
 298 static int adis16201_remove(struct spi_device *spi)
 299 {
 300         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 301         struct adis *st = iio_priv(indio_dev);
 302
 303         iio_device_unregister(indio_dev);
 304         adis_cleanup_buffer_and_trigger(st, indio_dev);
 305
 306         return 0;
 307 }
 308
 309 static struct spi_driver adis16201_driver = {
 310         .driver = {
 311                 .name = "adis16201",
 312         },
 313         .probe = adis16201_probe,
 314         .remove = adis16201_remove,
 315 };
 316 module_spi_driver(adis16201_driver);
 317
 318 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 319 MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
 320 MODULE_LICENSE("GPL v2");
 321 MODULE_ALIAS("spi:adis16201");