| /* |
| * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer |
| * |
| * Copyright 2010 Analog Devices Inc. |
| * |
| * Licensed under the GPL-2 or later. |
| */ |
| |
| #include <linux/delay.h> |
| #include <linux/device.h> |
| #include <linux/kernel.h> |
| #include <linux/spi/spi.h> |
| #include <linux/slab.h> |
| #include <linux/sysfs.h> |
| #include <linux/list.h> |
| #include <linux/module.h> |
| |
| #include <linux/iio/iio.h> |
| #include <linux/iio/sysfs.h> |
| #include <linux/iio/buffer.h> |
| #include <linux/iio/imu/adis.h> |
| |
| #define ADIS16209_STARTUP_DELAY 220 /* ms */ |
| |
| /* Flash memory write count */ |
| #define ADIS16209_FLASH_CNT 0x00 |
| |
| /* Output, power supply */ |
| #define ADIS16209_SUPPLY_OUT 0x02 |
| |
| /* Output, x-axis accelerometer */ |
| #define ADIS16209_XACCL_OUT 0x04 |
| |
| /* Output, y-axis accelerometer */ |
| #define ADIS16209_YACCL_OUT 0x06 |
| |
| /* Output, auxiliary ADC input */ |
| #define ADIS16209_AUX_ADC 0x08 |
| |
| /* Output, temperature */ |
| #define ADIS16209_TEMP_OUT 0x0A |
| |
| /* Output, x-axis inclination */ |
| #define ADIS16209_XINCL_OUT 0x0C |
| |
| /* Output, y-axis inclination */ |
| #define ADIS16209_YINCL_OUT 0x0E |
| |
| /* Output, +/-180 vertical rotational position */ |
| #define ADIS16209_ROT_OUT 0x10 |
| |
| /* Calibration, x-axis acceleration offset null */ |
| #define ADIS16209_XACCL_NULL 0x12 |
| |
| /* Calibration, y-axis acceleration offset null */ |
| #define ADIS16209_YACCL_NULL 0x14 |
| |
| /* Calibration, x-axis inclination offset null */ |
| #define ADIS16209_XINCL_NULL 0x16 |
| |
| /* Calibration, y-axis inclination offset null */ |
| #define ADIS16209_YINCL_NULL 0x18 |
| |
| /* Calibration, vertical rotation offset null */ |
| #define ADIS16209_ROT_NULL 0x1A |
| |
| /* Alarm 1 amplitude threshold */ |
| #define ADIS16209_ALM_MAG1 0x20 |
| |
| /* Alarm 2 amplitude threshold */ |
| #define ADIS16209_ALM_MAG2 0x22 |
| |
| /* Alarm 1, sample period */ |
| #define ADIS16209_ALM_SMPL1 0x24 |
| |
| /* Alarm 2, sample period */ |
| #define ADIS16209_ALM_SMPL2 0x26 |
| |
| /* Alarm control */ |
| #define ADIS16209_ALM_CTRL 0x28 |
| |
| /* Auxiliary DAC data */ |
| #define ADIS16209_AUX_DAC 0x30 |
| |
| /* General-purpose digital input/output control */ |
| #define ADIS16209_GPIO_CTRL 0x32 |
| |
| /* Miscellaneous control */ |
| #define ADIS16209_MSC_CTRL 0x34 |
| |
| /* Internal sample period (rate) control */ |
| #define ADIS16209_SMPL_PRD 0x36 |
| |
| /* Operation, filter configuration */ |
| #define ADIS16209_AVG_CNT 0x38 |
| |
| /* Operation, sleep mode control */ |
| #define ADIS16209_SLP_CNT 0x3A |
| |
| /* Diagnostics, system status register */ |
| #define ADIS16209_DIAG_STAT 0x3C |
| |
| /* Operation, system command register */ |
| #define ADIS16209_GLOB_CMD 0x3E |
| |
| /* MSC_CTRL */ |
| |
| /* Self-test at power-on: 1 = disabled, 0 = enabled */ |
| #define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10) |
| |
| /* Self-test enable */ |
| #define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8) |
| |
| /* Data-ready enable: 1 = enabled, 0 = disabled */ |
| #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) |
| |
| /* Data-ready line selection: 1 = DIO2, 0 = DIO1 */ |
| #define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0) |
| |
| /* DIAG_STAT */ |
| |
| /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */ |
| #define ADIS16209_DIAG_STAT_ALARM2 BIT(9) |
| |
| /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */ |
| #define ADIS16209_DIAG_STAT_ALARM1 BIT(8) |
| |
| /* Self-test diagnostic error flag: 1 = error condition, 0 = normal operation */ |
| #define ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT 5 |
| |
| /* SPI communications failure */ |
| #define ADIS16209_DIAG_STAT_SPI_FAIL_BIT 3 |
| |
| /* Flash update failure */ |
| #define ADIS16209_DIAG_STAT_FLASH_UPT_BIT 2 |
| |
| /* Power supply above 3.625 V */ |
| #define ADIS16209_DIAG_STAT_POWER_HIGH_BIT 1 |
| |
| /* Power supply below 3.15 V */ |
| #define ADIS16209_DIAG_STAT_POWER_LOW_BIT 0 |
| |
| /* GLOB_CMD */ |
| |
| #define ADIS16209_GLOB_CMD_SW_RESET BIT(7) |
| #define ADIS16209_GLOB_CMD_CLEAR_STAT BIT(4) |
| #define ADIS16209_GLOB_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 }, |
| [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL }, |
| [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL }, |
| [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL }, |
| [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 bits; |
| s16 val16; |
| u8 addr; |
| |
| switch (mask) { |
| case IIO_CHAN_INFO_CALIBBIAS: |
| switch (chan->type) { |
| case IIO_ACCEL: |
| case IIO_INCLI: |
| bits = 14; |
| break; |
| default: |
| return -EINVAL; |
| } |
| val16 = val & ((1 << bits) - 1); |
| addr = adis16209_addresses[chan->scan_index][0]; |
| return adis_write_reg_16(st, addr, val16); |
| } |
| return -EINVAL; |
| } |
| |
| 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; |
| if (chan->channel == 0) |
| *val2 = 305180; /* 0.30518 mV */ |
| else |
| *val2 = 610500; /* 0.6105 mV */ |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_TEMP: |
| *val = -470; /* -0.47 C */ |
| *val2 = 0; |
| return IIO_VAL_INT_PLUS_MICRO; |
| case IIO_ACCEL: |
| *val = 0; |
| *val2 = IIO_G_TO_M_S_2(244140); /* 0.244140 mg */ |
| return IIO_VAL_INT_PLUS_NANO; |
| case IIO_INCLI: |
| case IIO_ROT: |
| *val = 0; |
| *val2 = 25000; /* 0.025 degree */ |
| return IIO_VAL_INT_PLUS_MICRO; |
| default: |
| return -EINVAL; |
| } |
| break; |
| case IIO_CHAN_INFO_OFFSET: |
| *val = 25000 / -470 - 0x4FE; /* 25 C = 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; |
| val16 &= (1 << bits) - 1; |
| val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); |
| *val = val16; |
| return IIO_VAL_INT; |
| } |
| return -EINVAL; |
| } |
| |
| static const struct iio_chan_spec adis16209_channels[] = { |
| ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT, ADIS16209_SCAN_SUPPLY, 0, 14), |
| ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT, ADIS16209_SCAN_TEMP, 0, 12), |
| ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT, ADIS16209_SCAN_ACC_X, |
| BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
| ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT, ADIS16209_SCAN_ACC_Y, |
| BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14), |
| ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC, ADIS16209_SCAN_AUX_ADC, 0, 12), |
| ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT, ADIS16209_SCAN_INCLI_X, |
| 0, 0, 14), |
| ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT, ADIS16209_SCAN_INCLI_Y, |
| 0, 0, 14), |
| ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT, 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, |
| .driver_module = THIS_MODULE, |
| }; |
| |
| static const char * const adis16209_status_error_msgs[] = { |
| [ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure", |
| [ADIS16209_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", |
| [ADIS16209_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", |
| [ADIS16209_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", |
| [ADIS16209_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V", |
| }; |
| |
| static const struct adis_data adis16209_data = { |
| .read_delay = 30, |
| .msc_ctrl_reg = ADIS16209_MSC_CTRL, |
| .glob_cmd_reg = ADIS16209_GLOB_CMD, |
| .diag_stat_reg = ADIS16209_DIAG_STAT, |
| |
| .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN, |
| .self_test_no_autoclear = true, |
| .startup_delay = ADIS16209_STARTUP_DELAY, |
| |
| .status_error_msgs = adis16209_status_error_msgs, |
| .status_error_mask = BIT(ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT) | |
| BIT(ADIS16209_DIAG_STAT_SPI_FAIL_BIT) | |
| BIT(ADIS16209_DIAG_STAT_FLASH_UPT_BIT) | |
| BIT(ADIS16209_DIAG_STAT_POWER_HIGH_BIT) | |
| BIT(ADIS16209_DIAG_STAT_POWER_LOW_BIT), |
| }; |
| |
| static int adis16209_probe(struct spi_device *spi) |
| { |
| int ret; |
| struct adis *st; |
| struct iio_dev *indio_dev; |
| |
| /* setup the industrialio driver allocated elements */ |
| indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); |
| if (!indio_dev) |
| return -ENOMEM; |
| st = iio_priv(indio_dev); |
| /* this is only used for removal purposes */ |
| spi_set_drvdata(spi, indio_dev); |
| |
| indio_dev->name = spi->dev.driver->name; |
| indio_dev->dev.parent = &spi->dev; |
| 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 = adis_setup_buffer_and_trigger(st, indio_dev, NULL); |
| if (ret) |
| return ret; |
| |
| /* Get the device into a sane initial state */ |
| ret = adis_initial_startup(st); |
| if (ret) |
| goto error_cleanup_buffer_trigger; |
| ret = iio_device_register(indio_dev); |
| if (ret) |
| goto error_cleanup_buffer_trigger; |
| |
| return 0; |
| |
| error_cleanup_buffer_trigger: |
| adis_cleanup_buffer_and_trigger(st, indio_dev); |
| return ret; |
| } |
| |
| static int adis16209_remove(struct spi_device *spi) |
| { |
| struct iio_dev *indio_dev = spi_get_drvdata(spi); |
| struct adis *st = iio_priv(indio_dev); |
| |
| iio_device_unregister(indio_dev); |
| adis_cleanup_buffer_and_trigger(st, indio_dev); |
| |
| return 0; |
| } |
| |
| static struct spi_driver adis16209_driver = { |
| .driver = { |
| .name = "adis16209", |
| }, |
| .probe = adis16209_probe, |
| .remove = adis16209_remove, |
| }; |
| 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"); |