/*
* 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");