1// SPDX-License-Identifier: GPL-2.0+
2/*
3 * ADIS16203 Programmable 360 Degrees Inclinometer
4 *
5 * Copyright 2010 Analog Devices Inc.
6 */
7
8#include <linux/device.h>
9
10#include <linux/iio/iio.h>
11#include <linux/iio/imu/adis.h>
12
13#include <linux/kernel.h>
14#include <linux/module.h>
15#include <linux/spi/spi.h>
16
17#define ADIS16203_STARTUP_DELAY 220 /* ms */
18
19/* Flash memory write count */
20#define ADIS16203_FLASH_CNT 0x00
21
22/* Output, power supply */
23#define ADIS16203_SUPPLY_OUT 0x02
24
25/* Output, auxiliary ADC input */
26#define ADIS16203_AUX_ADC 0x08
27
28/* Output, temperature */
29#define ADIS16203_TEMP_OUT 0x0A
30
31/* Output, x-axis inclination */
32#define ADIS16203_XINCL_OUT 0x0C
33
34/* Output, y-axis inclination */
35#define ADIS16203_YINCL_OUT 0x0E
36
37/* Incline null calibration */
38#define ADIS16203_INCL_NULL 0x18
39
40/* Alarm 1 amplitude threshold */
41#define ADIS16203_ALM_MAG1 0x20
42
43/* Alarm 2 amplitude threshold */
44#define ADIS16203_ALM_MAG2 0x22
45
46/* Alarm 1, sample period */
47#define ADIS16203_ALM_SMPL1 0x24
48
49/* Alarm 2, sample period */
50#define ADIS16203_ALM_SMPL2 0x26
51
52/* Alarm control */
53#define ADIS16203_ALM_CTRL 0x28
54
55/* Auxiliary DAC data */
56#define ADIS16203_AUX_DAC 0x30
57
58/* General-purpose digital input/output control */
59#define ADIS16203_GPIO_CTRL 0x32
60
61/* Miscellaneous control */
62#define ADIS16203_MSC_CTRL 0x34
63
64/* Internal sample period (rate) control */
65#define ADIS16203_SMPL_PRD 0x36
66
67/* Operation, filter configuration */
68#define ADIS16203_AVG_CNT 0x38
69
70/* Operation, sleep mode control */
71#define ADIS16203_SLP_CNT 0x3A
72
73/* Diagnostics, system status register */
74#define ADIS16203_DIAG_STAT 0x3C
75
76/* Operation, system command register */
77#define ADIS16203_GLOB_CMD 0x3E
78
79/* MSC_CTRL */
80
81/* Self-test at power-on: 1 = disabled, 0 = enabled */
82#define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
83
84/* Reverses rotation of both inclination outputs */
85#define ADIS16203_MSC_CTRL_REVERSE_ROT_EN BIT(9)
86
87/* Self-test enable */
88#define ADIS16203_MSC_CTRL_SELF_TEST_EN BIT(8)
89
90/* Data-ready enable: 1 = enabled, 0 = disabled */
91#define ADIS16203_MSC_CTRL_DATA_RDY_EN BIT(2)
92
93/* Data-ready polarity: 1 = active high, 0 = active low */
94#define ADIS16203_MSC_CTRL_ACTIVE_HIGH BIT(1)
95
96/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
97#define ADIS16203_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
98
99/* DIAG_STAT */
100
101/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
102#define ADIS16203_DIAG_STAT_ALARM2 BIT(9)
103
104/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
105#define ADIS16203_DIAG_STAT_ALARM1 BIT(8)
106
107/* Self-test diagnostic error flag */
108#define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
109
110/* SPI communications failure */
111#define ADIS16203_DIAG_STAT_SPI_FAIL_BIT 3
112
113/* Flash update failure */
114#define ADIS16203_DIAG_STAT_FLASH_UPT_BIT 2
115
116/* Power supply above 3.625 V */
117#define ADIS16203_DIAG_STAT_POWER_HIGH_BIT 1
118
119/* Power supply below 2.975 V */
120#define ADIS16203_DIAG_STAT_POWER_LOW_BIT 0
121
122/* GLOB_CMD */
123
124#define ADIS16203_GLOB_CMD_SW_RESET BIT(7)
125#define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4)
126#define ADIS16203_GLOB_CMD_FACTORY_CAL BIT(1)
127
128#define ADIS16203_ERROR_ACTIVE BIT(14)
129
130enum adis16203_scan {
131 ADIS16203_SCAN_INCLI_X,
132 ADIS16203_SCAN_INCLI_Y,
133 ADIS16203_SCAN_SUPPLY,
134 ADIS16203_SCAN_AUX_ADC,
135 ADIS16203_SCAN_TEMP,
136};
137
138#define DRIVER_NAME "adis16203"
139
140static const u8 adis16203_addresses[] = {
141 [ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
142};
143
144static int adis16203_write_raw(struct iio_dev *indio_dev,
145 struct iio_chan_spec const *chan,
146 int val,
147 int val2,
148 long mask)
149{
150 struct adis *st = iio_priv(indio_dev);
151 /* currently only one writable parameter which keeps this simple */
152 u8 addr = adis16203_addresses[chan->scan_index];
153
154 return adis_write_reg_16(adis: st, reg: addr, val: val & 0x3FFF);
155}
156
157static int adis16203_read_raw(struct iio_dev *indio_dev,
158 struct iio_chan_spec const *chan,
159 int *val, int *val2,
160 long mask)
161{
162 struct adis *st = iio_priv(indio_dev);
163 int ret;
164 u8 addr;
165 s16 val16;
166
167 switch (mask) {
168 case IIO_CHAN_INFO_RAW:
169 return adis_single_conversion(indio_dev, chan,
170 ADIS16203_ERROR_ACTIVE, val);
171 case IIO_CHAN_INFO_SCALE:
172 switch (chan->type) {
173 case IIO_VOLTAGE:
174 if (chan->channel == 0) {
175 *val = 1;
176 *val2 = 220000; /* 1.22 mV */
177 } else {
178 *val = 0;
179 *val2 = 610000; /* 0.61 mV */
180 }
181 return IIO_VAL_INT_PLUS_MICRO;
182 case IIO_TEMP:
183 *val = -470; /* -0.47 C */
184 *val2 = 0;
185 return IIO_VAL_INT_PLUS_MICRO;
186 case IIO_INCLI:
187 *val = 0;
188 *val2 = 25000; /* 0.025 degree */
189 return IIO_VAL_INT_PLUS_MICRO;
190 default:
191 return -EINVAL;
192 }
193 case IIO_CHAN_INFO_OFFSET:
194 *val = 25000 / -470 - 1278; /* 25 C = 1278 */
195 return IIO_VAL_INT;
196 case IIO_CHAN_INFO_CALIBBIAS:
197 addr = adis16203_addresses[chan->scan_index];
198 ret = adis_read_reg_16(adis: st, reg: addr, val: &val16);
199 if (ret)
200 return ret;
201 *val = sign_extend32(value: val16, index: 13);
202 return IIO_VAL_INT;
203 default:
204 return -EINVAL;
205 }
206}
207
208static const struct iio_chan_spec adis16203_channels[] = {
209 ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
210 ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
211 ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
212 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
213 /* Fixme: Not what it appears to be - see data sheet */
214 ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
215 0, 0, 14),
216 ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
217 IIO_CHAN_SOFT_TIMESTAMP(5),
218};
219
220static const struct iio_info adis16203_info = {
221 .read_raw = adis16203_read_raw,
222 .write_raw = adis16203_write_raw,
223 .update_scan_mode = adis_update_scan_mode,
224};
225
226static const char * const adis16203_status_error_msgs[] = {
227 [ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
228 [ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
229 [ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
230 [ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
231 [ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
232};
233
234static const struct adis_timeout adis16203_timeouts = {
235 .reset_ms = ADIS16203_STARTUP_DELAY,
236 .sw_reset_ms = ADIS16203_STARTUP_DELAY,
237 .self_test_ms = ADIS16203_STARTUP_DELAY
238};
239
240static const struct adis_data adis16203_data = {
241 .read_delay = 20,
242 .msc_ctrl_reg = ADIS16203_MSC_CTRL,
243 .glob_cmd_reg = ADIS16203_GLOB_CMD,
244 .diag_stat_reg = ADIS16203_DIAG_STAT,
245
246 .self_test_mask = ADIS16203_MSC_CTRL_SELF_TEST_EN,
247 .self_test_reg = ADIS16203_MSC_CTRL,
248 .self_test_no_autoclear = true,
249 .timeouts = &adis16203_timeouts,
250
251 .status_error_msgs = adis16203_status_error_msgs,
252 .status_error_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) |
253 BIT(ADIS16203_DIAG_STAT_SPI_FAIL_BIT) |
254 BIT(ADIS16203_DIAG_STAT_FLASH_UPT_BIT) |
255 BIT(ADIS16203_DIAG_STAT_POWER_HIGH_BIT) |
256 BIT(ADIS16203_DIAG_STAT_POWER_LOW_BIT),
257};
258
259static int adis16203_probe(struct spi_device *spi)
260{
261 int ret;
262 struct iio_dev *indio_dev;
263 struct adis *st;
264
265 /* setup the industrialio driver allocated elements */
266 indio_dev = devm_iio_device_alloc(parent: &spi->dev, sizeof_priv: sizeof(*st));
267 if (!indio_dev)
268 return -ENOMEM;
269 st = iio_priv(indio_dev);
270 /* this is only used for removal purposes */
271 spi_set_drvdata(spi, data: indio_dev);
272
273 indio_dev->name = spi->dev.driver->name;
274 indio_dev->channels = adis16203_channels;
275 indio_dev->num_channels = ARRAY_SIZE(adis16203_channels);
276 indio_dev->info = &adis16203_info;
277 indio_dev->modes = INDIO_DIRECT_MODE;
278
279 ret = adis_init(adis: st, indio_dev, spi, data: &adis16203_data);
280 if (ret)
281 return ret;
282
283 ret = devm_adis_setup_buffer_and_trigger(adis: st, indio_dev, NULL);
284 if (ret)
285 return ret;
286
287 /* Get the device into a sane initial state */
288 ret = __adis_initial_startup(adis: st);
289 if (ret)
290 return ret;
291
292 return devm_iio_device_register(&spi->dev, indio_dev);
293}
294
295static const struct of_device_id adis16203_of_match[] = {
296 { .compatible = "adi,adis16203" },
297 { },
298};
299
300MODULE_DEVICE_TABLE(of, adis16203_of_match);
301
302static struct spi_driver adis16203_driver = {
303 .driver = {
304 .name = "adis16203",
305 .of_match_table = adis16203_of_match,
306 },
307 .probe = adis16203_probe,
308};
309module_spi_driver(adis16203_driver);
310
311MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
312MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
313MODULE_LICENSE("GPL v2");
314MODULE_ALIAS("spi:adis16203");
315MODULE_IMPORT_NS(IIO_ADISLIB);
316

source code of linux/drivers/staging/iio/accel/adis16203.c