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(adis: st, reg: adis16209_addresses[chan->scan_index][0], |
126 | val: 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(adis: st, reg: addr, val: &val16); |
203 | if (ret) |
204 | return ret; |
205 | |
206 | *val = sign_extend32(value: val16, index: 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(parent: &spi->dev, sizeof_priv: 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(adis: st, indio_dev, spi, data: &adis16209_data); |
287 | if (ret) |
288 | return ret; |
289 | |
290 | ret = devm_adis_setup_buffer_and_trigger(adis: st, indio_dev, NULL); |
291 | if (ret) |
292 | return ret; |
293 | |
294 | ret = __adis_initial_startup(adis: 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); |
314 | |