diff options
Diffstat (limited to 'drivers/iio/accel/adis16209.c')
| -rw-r--r-- | drivers/iio/accel/adis16209.c | 313 |
1 files changed, 313 insertions, 0 deletions
diff --git a/drivers/iio/accel/adis16209.c b/drivers/iio/accel/adis16209.c new file mode 100644 index 000000000..5a9c6e229 --- /dev/null +++ b/drivers/iio/accel/adis16209.c @@ -0,0 +1,313 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer + * + * Copyright 2010 Analog Devices Inc. + */ + +#include <linux/device.h> +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/spi/spi.h> + +#include <linux/iio/iio.h> +#include <linux/iio/imu/adis.h> + +#define ADIS16209_STARTUP_DELAY_MS 220 +#define ADIS16209_FLASH_CNT_REG 0x00 + +/* Data Output Register Definitions */ +#define ADIS16209_SUPPLY_OUT_REG 0x02 +#define ADIS16209_XACCL_OUT_REG 0x04 +#define ADIS16209_YACCL_OUT_REG 0x06 +/* Output, auxiliary ADC input */ +#define ADIS16209_AUX_ADC_REG 0x08 +/* Output, temperature */ +#define ADIS16209_TEMP_OUT_REG 0x0A +/* Output, +/- 90 degrees X-axis inclination */ +#define ADIS16209_XINCL_OUT_REG 0x0C +#define ADIS16209_YINCL_OUT_REG 0x0E +/* Output, +/-180 vertical rotational position */ +#define ADIS16209_ROT_OUT_REG 0x10 + +/* + * Calibration Register Definitions. + * Acceleration, inclination or rotation offset null. + */ +#define ADIS16209_XACCL_NULL_REG 0x12 +#define ADIS16209_YACCL_NULL_REG 0x14 +#define ADIS16209_XINCL_NULL_REG 0x16 +#define ADIS16209_YINCL_NULL_REG 0x18 +#define ADIS16209_ROT_NULL_REG 0x1A + +/* Alarm Register Definitions */ +#define ADIS16209_ALM_MAG1_REG 0x20 +#define ADIS16209_ALM_MAG2_REG 0x22 +#define ADIS16209_ALM_SMPL1_REG 0x24 +#define ADIS16209_ALM_SMPL2_REG 0x26 +#define ADIS16209_ALM_CTRL_REG 0x28 + +#define ADIS16209_AUX_DAC_REG 0x30 +#define ADIS16209_GPIO_CTRL_REG 0x32 +#define ADIS16209_SMPL_PRD_REG 0x36 +#define ADIS16209_AVG_CNT_REG 0x38 +#define ADIS16209_SLP_CNT_REG 0x3A + +#define ADIS16209_MSC_CTRL_REG 0x34 +#define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10) +#define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8) +#define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2) +/* Data-ready polarity: 1 = active high, 0 = active low */ +#define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1) +#define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0) + +#define ADIS16209_STAT_REG 0x3C +#define ADIS16209_STAT_ALARM2 BIT(9) +#define ADIS16209_STAT_ALARM1 BIT(8) +#define ADIS16209_STAT_SELFTEST_FAIL_BIT 5 +#define ADIS16209_STAT_SPI_FAIL_BIT 3 +#define ADIS16209_STAT_FLASH_UPT_FAIL_BIT 2 +/* Power supply above 3.625 V */ +#define ADIS16209_STAT_POWER_HIGH_BIT 1 +/* Power supply below 2.975 V */ +#define ADIS16209_STAT_POWER_LOW_BIT 0 + +#define ADIS16209_CMD_REG 0x3E +#define ADIS16209_CMD_SW_RESET BIT(7) +#define ADIS16209_CMD_CLEAR_STAT BIT(4) +#define ADIS16209_CMD_FACTORY_CAL BIT(1) + +#define ADIS16209_ERROR_ACTIVE BIT(14) + +enum adis16209_scan { + ADIS16209_SCAN_SUPPLY, + ADIS16209_SCAN_ACC_X, + ADIS16209_SCAN_ACC_Y, + ADIS16209_SCAN_AUX_ADC, + ADIS16209_SCAN_TEMP, + ADIS16209_SCAN_INCLI_X, + ADIS16209_SCAN_INCLI_Y, + ADIS16209_SCAN_ROT, +}; + +static const u8 adis16209_addresses[8][1] = { + [ADIS16209_SCAN_SUPPLY] = { }, + [ADIS16209_SCAN_AUX_ADC] = { }, + [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL_REG }, + [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL_REG }, + [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL_REG }, + [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL_REG }, + [ADIS16209_SCAN_ROT] = { }, + [ADIS16209_SCAN_TEMP] = { }, +}; + +static int adis16209_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, + int val2, + long mask) +{ + struct adis *st = iio_priv(indio_dev); + int m; + + if (mask != IIO_CHAN_INFO_CALIBBIAS) + return -EINVAL; + + switch (chan->type) { + case IIO_ACCEL: + case IIO_INCLI: + m = GENMASK(13, 0); + break; + default: + return -EINVAL; + } + + return adis_write_reg_16(st, adis16209_addresses[chan->scan_index][0], + val & m); +} + +static int adis16209_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, + long mask) +{ + struct adis *st = iio_priv(indio_dev); + int ret; + int bits; + u8 addr; + s16 val16; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + return adis_single_conversion(indio_dev, chan, + ADIS16209_ERROR_ACTIVE, val); + case IIO_CHAN_INFO_SCALE: + switch (chan->type) { + case IIO_VOLTAGE: + *val = 0; + switch (chan->channel) { + case 0: + *val2 = 305180; /* 0.30518 mV */ + break; + case 1: + *val2 = 610500; /* 0.6105 mV */ + break; + default: + return -EINVAL; + } + return IIO_VAL_INT_PLUS_MICRO; + case IIO_TEMP: + *val = -470; + *val2 = 0; + return IIO_VAL_INT_PLUS_MICRO; + case IIO_ACCEL: + /* + * IIO base unit for sensitivity of accelerometer + * is milli g. + * 1 LSB represents 0.244 mg. + */ + *val = 0; + *val2 = IIO_G_TO_M_S_2(244140); + return IIO_VAL_INT_PLUS_NANO; + case IIO_INCLI: + case IIO_ROT: + /* + * IIO base units for rotation are degrees. + * 1 LSB represents 0.025 milli degrees. + */ + *val = 0; + *val2 = 25000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } + break; + case IIO_CHAN_INFO_OFFSET: + /* + * The raw ADC value is 0x4FE when the temperature + * is 45 degrees and the scale factor per milli + * degree celcius is -470. + */ + *val = 25000 / -470 - 0x4FE; + return IIO_VAL_INT; + case IIO_CHAN_INFO_CALIBBIAS: + switch (chan->type) { + case IIO_ACCEL: + bits = 14; + break; + default: + return -EINVAL; + } + addr = adis16209_addresses[chan->scan_index][0]; + ret = adis_read_reg_16(st, addr, &val16); + if (ret) + return ret; + + *val = sign_extend32(val16, bits - 1); + return IIO_VAL_INT; + } + return -EINVAL; +} + +static const struct iio_chan_spec adis16209_channels[] = { + ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT_REG, ADIS16209_SCAN_SUPPLY, + 0, 14), + ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT_REG, ADIS16209_SCAN_TEMP, 0, 12), + ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT_REG, ADIS16209_SCAN_ACC_X, + BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), + ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT_REG, ADIS16209_SCAN_ACC_Y, + BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), + ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC_REG, ADIS16209_SCAN_AUX_ADC, 0, 12), + ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT_REG, ADIS16209_SCAN_INCLI_X, + 0, 0, 14), + ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT_REG, ADIS16209_SCAN_INCLI_Y, + 0, 0, 14), + ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT_REG, ADIS16209_SCAN_ROT, 0, 0, 14), + IIO_CHAN_SOFT_TIMESTAMP(8) +}; + +static const struct iio_info adis16209_info = { + .read_raw = adis16209_read_raw, + .write_raw = adis16209_write_raw, + .update_scan_mode = adis_update_scan_mode, +}; + +static const char * const adis16209_status_error_msgs[] = { + [ADIS16209_STAT_SELFTEST_FAIL_BIT] = "Self test failure", + [ADIS16209_STAT_SPI_FAIL_BIT] = "SPI failure", + [ADIS16209_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed", + [ADIS16209_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", + [ADIS16209_STAT_POWER_LOW_BIT] = "Power supply below 2.975V", +}; + +static const struct adis_timeout adis16209_timeouts = { + .reset_ms = ADIS16209_STARTUP_DELAY_MS, + .self_test_ms = ADIS16209_STARTUP_DELAY_MS, + .sw_reset_ms = ADIS16209_STARTUP_DELAY_MS, +}; + +static const struct adis_data adis16209_data = { + .read_delay = 30, + .msc_ctrl_reg = ADIS16209_MSC_CTRL_REG, + .glob_cmd_reg = ADIS16209_CMD_REG, + .diag_stat_reg = ADIS16209_STAT_REG, + + .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN, + .self_test_reg = ADIS16209_MSC_CTRL_REG, + .self_test_no_autoclear = true, + .timeouts = &adis16209_timeouts, + + .status_error_msgs = adis16209_status_error_msgs, + .status_error_mask = BIT(ADIS16209_STAT_SELFTEST_FAIL_BIT) | + BIT(ADIS16209_STAT_SPI_FAIL_BIT) | + BIT(ADIS16209_STAT_FLASH_UPT_FAIL_BIT) | + BIT(ADIS16209_STAT_POWER_HIGH_BIT) | + BIT(ADIS16209_STAT_POWER_LOW_BIT), +}; + +static int adis16209_probe(struct spi_device *spi) +{ + struct iio_dev *indio_dev; + struct adis *st; + int ret; + + indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); + if (!indio_dev) + return -ENOMEM; + + st = iio_priv(indio_dev); + + indio_dev->name = spi->dev.driver->name; + indio_dev->info = &adis16209_info; + indio_dev->channels = adis16209_channels; + indio_dev->num_channels = ARRAY_SIZE(adis16209_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = adis_init(st, indio_dev, spi, &adis16209_data); + if (ret) + return ret; + + ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL); + if (ret) + return ret; + + ret = adis_initial_startup(st); + if (ret) + return ret; + + return devm_iio_device_register(&spi->dev, indio_dev); +} + +static struct spi_driver adis16209_driver = { + .driver = { + .name = "adis16209", + }, + .probe = adis16209_probe, +}; +module_spi_driver(adis16209_driver); + +MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); +MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer"); +MODULE_LICENSE("GPL v2"); +MODULE_ALIAS("spi:adis16209"); +MODULE_IMPORT_NS(IIO_ADISLIB); |