drivers/iio/accel/adis16209.c

   1 /*
   2  * ADIS16209 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/list.h>
  12 #include <linux/module.h>
  13 #include <linux/spi/spi.h>
  14 #include <linux/slab.h>
  15 #include <linux/sysfs.h>
  16
  17 #include <linux/iio/iio.h>
  18 #include <linux/iio/imu/adis.h>
  19
  20 #define ADIS16209_STARTUP_DELAY_MS      220
  21 #define ADIS16209_FLASH_CNT_REG         0x00
  22
  23 /* Data Output Register Definitions */
  24 #define ADIS16209_SUPPLY_OUT_REG        0x02
  25 #define ADIS16209_XACCL_OUT_REG         0x04
  26 #define ADIS16209_YACCL_OUT_REG         0x06
  27 /* Output, auxiliary ADC input */
  28 #define ADIS16209_AUX_ADC_REG           0x08
  29 /* Output, temperature */
  30 #define ADIS16209_TEMP_OUT_REG          0x0A
  31 /* Output, +/- 90 degrees X-axis inclination */
  32 #define ADIS16209_XINCL_OUT_REG         0x0C
  33 #define ADIS16209_YINCL_OUT_REG         0x0E
  34 /* Output, +/-180 vertical rotational position */
  35 #define ADIS16209_ROT_OUT_REG           0x10
  36
  37 /*
  38  * Calibration Register Definitions.
  39  * Acceleration, inclination or rotation offset null.
  40  */
  41 #define ADIS16209_XACCL_NULL_REG        0x12
  42 #define ADIS16209_YACCL_NULL_REG        0x14
  43 #define ADIS16209_XINCL_NULL_REG        0x16
  44 #define ADIS16209_YINCL_NULL_REG        0x18
  45 #define ADIS16209_ROT_NULL_REG          0x1A
  46
  47 /* Alarm Register Definitions */
  48 #define ADIS16209_ALM_MAG1_REG          0x20
  49 #define ADIS16209_ALM_MAG2_REG          0x22
  50 #define ADIS16209_ALM_SMPL1_REG         0x24
  51 #define ADIS16209_ALM_SMPL2_REG         0x26
  52 #define ADIS16209_ALM_CTRL_REG          0x28
  53
  54 #define ADIS16209_AUX_DAC_REG           0x30
  55 #define ADIS16209_GPIO_CTRL_REG         0x32
  56 #define ADIS16209_SMPL_PRD_REG          0x36
  57 #define ADIS16209_AVG_CNT_REG           0x38
  58 #define ADIS16209_SLP_CNT_REG           0x3A
  59
  60 #define ADIS16209_MSC_CTRL_REG                  0x34
  61 #define  ADIS16209_MSC_CTRL_PWRUP_SELF_TEST     BIT(10)
  62 #define  ADIS16209_MSC_CTRL_SELF_TEST_EN        BIT(8)
  63 #define  ADIS16209_MSC_CTRL_DATA_RDY_EN         BIT(2)
  64 /* Data-ready polarity: 1 = active high, 0 = active low */
  65 #define  ADIS16209_MSC_CTRL_ACTIVE_HIGH         BIT(1)
  66 #define  ADIS16209_MSC_CTRL_DATA_RDY_DIO2       BIT(0)
  67
  68 #define ADIS16209_STAT_REG                      0x3C
  69 #define  ADIS16209_STAT_ALARM2                  BIT(9)
  70 #define  ADIS16209_STAT_ALARM1                  BIT(8)
  71 #define  ADIS16209_STAT_SELFTEST_FAIL_BIT       5
  72 #define  ADIS16209_STAT_SPI_FAIL_BIT            3
  73 #define  ADIS16209_STAT_FLASH_UPT_FAIL_BIT      2
  74 /* Power supply above 3.625 V */
  75 #define  ADIS16209_STAT_POWER_HIGH_BIT          1
  76 /* Power supply below 3.15 V */
  77 #define  ADIS16209_STAT_POWER_LOW_BIT           0
  78
  79 #define ADIS16209_CMD_REG                       0x3E
  80 #define  ADIS16209_CMD_SW_RESET                 BIT(7)
  81 #define  ADIS16209_CMD_CLEAR_STAT               BIT(4)
  82 #define  ADIS16209_CMD_FACTORY_CAL              BIT(1)
  83
  84 #define ADIS16209_ERROR_ACTIVE                  BIT(14)
  85
  86 enum adis16209_scan {
  87         ADIS16209_SCAN_SUPPLY,
  88         ADIS16209_SCAN_ACC_X,
  89         ADIS16209_SCAN_ACC_Y,
  90         ADIS16209_SCAN_AUX_ADC,
  91         ADIS16209_SCAN_TEMP,
  92         ADIS16209_SCAN_INCLI_X,
  93         ADIS16209_SCAN_INCLI_Y,
  94         ADIS16209_SCAN_ROT,
  95 };
  96
  97 static const u8 adis16209_addresses[8][1] = {
  98         [ADIS16209_SCAN_SUPPLY] = { },
  99         [ADIS16209_SCAN_AUX_ADC] = { },
 100         [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG },
 101         [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG },
 102         [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG },
 103         [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG },
 104         [ADIS16209_SCAN_ROT] = { },
 105         [ADIS16209_SCAN_TEMP] = { },
 106 };
 107
 108 static int adis16209_write_raw(struct iio_dev *indio_dev,
 109                                struct iio_chan_spec const *chan,
 110                                int val,
 111                                int val2,
 112                                long mask)
 113 {
 114         struct adis *st = iio_priv(indio_dev);
 115         int m;
 116
 117         if (mask != IIO_CHAN_INFO_CALIBBIAS)
 118                 return -EINVAL;
 119
 120         switch (chan->type) {
 121         case IIO_ACCEL:
 122         case IIO_INCLI:
 123                 m = GENMASK(13, 0);
 124                 break;
 125         default:
 126                 return -EINVAL;
 127         }
 128
 129         return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0],
 130                                  val & m);
 131 }
 132
 133 static int adis16209_read_raw(struct iio_dev *indio_dev,
 134                               struct iio_chan_spec const *chan,
 135                               int *val, int *val2,
 136                               long mask)
 137 {
 138         struct adis *st = iio_priv(indio_dev);
 139         int ret;
 140         int bits;
 141         u8 addr;
 142         s16 val16;
 143
 144         switch (mask) {
 145         case IIO_CHAN_INFO_RAW:
 146                 return adis_single_conversion(indio_dev, chan,
 147                         ADIS16209_ERROR_ACTIVE, val);
 148         case IIO_CHAN_INFO_SCALE:
 149                 switch (chan->type) {
 150                 case IIO_VOLTAGE:
 151                         *val = 0;
 152                         switch (chan->channel) {
 153                         case 0:
 154                                 *val2 = 305180; /* 0.30518 mV */
 155                                 break;
 156                         case 1:
 157                                 *val2 = 610500; /* 0.6105 mV */
 158                                 break;
 159                         default:
 160                                 return -EINVAL;
 161                         }
 162                         return IIO_VAL_INT_PLUS_MICRO;
 163                 case IIO_TEMP:
 164                         *val = -470;
 165                         *val2 = 0;
 166                         return IIO_VAL_INT_PLUS_MICRO;
 167                 case IIO_ACCEL:
 168                         /*
 169                          * IIO base unit for sensitivity of accelerometer
 170                          * is milli g.
 171                          * 1 LSB represents 0.244 mg.
 172                          */
 173                         *val = 0;
 174                         *val2 = IIO_G_TO_M_S_2(244140);
 175                         return IIO_VAL_INT_PLUS_NANO;
 176                 case IIO_INCLI:
 177                 case IIO_ROT:
 178                         /*
 179                          * IIO base units for rotation are degrees.
 180                          * 1 LSB represents 0.025 milli degrees.
 181                          */
 182                         *val = 0;
 183                         *val2 = 25000;
 184                         return IIO_VAL_INT_PLUS_MICRO;
 185                 default:
 186                         return -EINVAL;
 187                 }
 188                 break;
 189         case IIO_CHAN_INFO_OFFSET:
 190                 /*
 191                  * The raw ADC value is 0x4FE when the temperature
 192                  * is 45 degrees and the scale factor per milli
 193                  * degree celcius is -470.
 194                  */
 195                 *val = 25000 / -470 - 0x4FE;
 196                 return IIO_VAL_INT;
 197         case IIO_CHAN_INFO_CALIBBIAS:
 198                 switch (chan->type) {
 199                 case IIO_ACCEL:
 200                         bits = 14;
 201                         break;
 202                 default:
 203                         return -EINVAL;
 204                 }
 205                 addr = adis16209_addresses[chan->scan_index][0];
 206                 ret = adis_read_reg_16(st, addr, &val16);
 207                 if (ret)
 208                         return ret;
 209
 210                 *val = sign_extend32(val16, bits - 1);
 211                 return IIO_VAL_INT;
 212         }
 213         return -EINVAL;
 214 }
 215
 216 static const struct iio_chan_spec adis16209_channels[] = {
 217         ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY,
 218                          0, 14),
 219         ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12),
 220         ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X,
 221                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 222         ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y,
 223                         BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
 224         ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12),
 225         ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X,
 226                         0, 0, 14),
 227         ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y,
 228                         0, 0, 14),
 229         ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14),
 230         IIO_CHAN_SOFT_TIMESTAMP(8)
 231 };
 232
 233 static const struct iio_info adis16209_info = {
 234         .read_raw = adis16209_read_raw,
 235         .write_raw = adis16209_write_raw,
 236         .update_scan_mode = adis_update_scan_mode,
 237 };
 238
 239 static const char * const adis16209_status_error_msgs[] = {
 240         [ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
 241         [ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure",
 242         [ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
 243         [ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
 244         [ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
 245 };
 246
 247 static const struct adis_data adis16209_data = {
 248         .read_delay = 30,
 249         .msc_ctrl_reg = ADIS16209_MSC_CTRL_REG,
 250         .glob_cmd_reg = ADIS16209_CMD_REG,
 251         .diag_stat_reg = ADIS16209_STAT_REG,
 252
 253         .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
 254         .self_test_no_autoclear = true,
 255         .startup_delay = ADIS16209_STARTUP_DELAY_MS,
 256
 257         .status_error_msgs = adis16209_status_error_msgs,
 258         .status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) |
 259                 BIT(ADIS16209_STAT_SPI_FAIL_BIT) |
 260                 BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) |
 261                 BIT(ADIS16209_STAT_POWER_HIGH_BIT) |
 262                 BIT(ADIS16209_STAT_POWER_LOW_BIT),
 263 };
 264
 265 static int adis16209_probe(struct spi_device *spi)
 266 {
 267         struct iio_dev *indio_dev;
 268         struct adis *st;
 269         int ret;
 270
 271         indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
 272         if (!indio_dev)
 273                 return -ENOMEM;
 274
 275         st = iio_priv(indio_dev);
 276         spi_set_drvdata(spi, indio_dev);
 277
 278         indio_dev->name = spi->dev.driver->name;
 279         indio_dev->dev.parent = &spi->dev;
 280         indio_dev->info = &adis16209_info;
 281         indio_dev->channels = adis16209_channels;
 282         indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
 283         indio_dev->modes = INDIO_DIRECT_MODE;
 284
 285         ret = adis_init(st, indio_dev, spi, &adis16209_data);
 286         if (ret)
 287                 return ret;
 288
 289         ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
 290         if (ret)
 291                 return ret;
 292
 293         ret = adis_initial_startup(st);
 294         if (ret)
 295                 goto error_cleanup_buffer_trigger;
 296         ret = iio_device_register(indio_dev);
 297         if (ret)
 298                 goto error_cleanup_buffer_trigger;
 299
 300         return 0;
 301
 302 error_cleanup_buffer_trigger:
 303         adis_cleanup_buffer_and_trigger(st, indio_dev);
 304         return ret;
 305 }
 306
 307 static int adis16209_remove(struct spi_device *spi)
 308 {
 309         struct iio_dev *indio_dev = spi_get_drvdata(spi);
 310         struct adis *st = iio_priv(indio_dev);
 311
 312         iio_device_unregister(indio_dev);
 313         adis_cleanup_buffer_and_trigger(st, indio_dev);
 314
 315         return 0;
 316 }
 317
 318 static struct spi_driver adis16209_driver = {
 319         .driver = {
 320                 .name = "adis16209",
 321         },
 322         .probe = adis16209_probe,
 323         .remove = adis16209_remove,
 324 };
 325 module_spi_driver(adis16209_driver);
 326
 327 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
 328 MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
 329 MODULE_LICENSE("GPL v2");
 330 MODULE_ALIAS("spi:adis16209");