1 /*
2 * ADIS16203 Programmable 360 Degrees Inclinometer
3 *
4 * Copyright 2010 Analog Devices Inc.
5 *
6 * Licensed under the GPL-2 or later.
7 */
8
9 #include <linux/delay.h>
10 #include <linux/device.h>
11
12 #include <linux/iio/buffer.h>
13 #include <linux/iio/iio.h>
14 #include <linux/iio/imu/adis.h>
15 #include <linux/iio/sysfs.h>
16
17 #include <linux/kernel.h>
18 #include <linux/module.h>
19 #include <linux/mutex.h>
20 #include <linux/slab.h>
21 #include <linux/spi/spi.h>
22 #include <linux/sysfs.h>
23
24 #define ADIS16203_STARTUP_DELAY 220 /* ms */
25
26 /* Flash memory write count */
27 #define ADIS16203_FLASH_CNT 0x00
28
29 /* Output, power supply */
30 #define ADIS16203_SUPPLY_OUT 0x02
31
32 /* Output, auxiliary ADC input */
33 #define ADIS16203_AUX_ADC 0x08
34
35 /* Output, temperature */
36 #define ADIS16203_TEMP_OUT 0x0A
37
38 /* Output, x-axis inclination */
39 #define ADIS16203_XINCL_OUT 0x0C
40
41 /* Output, y-axis inclination */
42 #define ADIS16203_YINCL_OUT 0x0E
43
44 /* Incline null calibration */
45 #define ADIS16203_INCL_NULL 0x18
46
47 /* Alarm 1 amplitude threshold */
48 #define ADIS16203_ALM_MAG1 0x20
49
50 /* Alarm 2 amplitude threshold */
51 #define ADIS16203_ALM_MAG2 0x22
52
53 /* Alarm 1, sample period */
54 #define ADIS16203_ALM_SMPL1 0x24
55
56 /* Alarm 2, sample period */
57 #define ADIS16203_ALM_SMPL2 0x26
58
59 /* Alarm control */
60 #define ADIS16203_ALM_CTRL 0x28
61
62 /* Auxiliary DAC data */
63 #define ADIS16203_AUX_DAC 0x30
64
65 /* General-purpose digital input/output control */
66 #define ADIS16203_GPIO_CTRL 0x32
67
68 /* Miscellaneous control */
69 #define ADIS16203_MSC_CTRL 0x34
70
71 /* Internal sample period (rate) control */
72 #define ADIS16203_SMPL_PRD 0x36
73
74 /* Operation, filter configuration */
75 #define ADIS16203_AVG_CNT 0x38
76
77 /* Operation, sleep mode control */
78 #define ADIS16203_SLP_CNT 0x3A
79
80 /* Diagnostics, system status register */
81 #define ADIS16203_DIAG_STAT 0x3C
82
83 /* Operation, system command register */
84 #define ADIS16203_GLOB_CMD 0x3E
85
86 /* MSC_CTRL */
87
88 /* Self-test at power-on: 1 = disabled, 0 = enabled */
89 #define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
90
91 /* Reverses rotation of both inclination outputs */
92 #define ADIS16203_MSC_CTRL_REVERSE_ROT_EN BIT(9)
93
94 /* Self-test enable */
95 #define ADIS16203_MSC_CTRL_SELF_TEST_EN BIT(8)
96
97 /* Data-ready enable: 1 = enabled, 0 = disabled */
98 #define ADIS16203_MSC_CTRL_DATA_RDY_EN BIT(2)
99
100 /* Data-ready polarity: 1 = active high, 0 = active low */
101 #define ADIS16203_MSC_CTRL_ACTIVE_HIGH BIT(1)
102
103 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
104 #define ADIS16203_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
105
106 /* DIAG_STAT */
107
108 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
109 #define ADIS16203_DIAG_STAT_ALARM2 BIT(9)
110
111 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
112 #define ADIS16203_DIAG_STAT_ALARM1 BIT(8)
113
114 /* Self-test diagnostic error flag */
115 #define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
116
117 /* SPI communications failure */
118 #define ADIS16203_DIAG_STAT_SPI_FAIL_BIT 3
119
120 /* Flash update failure */
121 #define ADIS16203_DIAG_STAT_FLASH_UPT_BIT 2
122
123 /* Power supply above 3.625 V */
124 #define ADIS16203_DIAG_STAT_POWER_HIGH_BIT 1
125
126 /* Power supply below 3.15 V */
127 #define ADIS16203_DIAG_STAT_POWER_LOW_BIT 0
128
129 /* GLOB_CMD */
130
131 #define ADIS16203_GLOB_CMD_SW_RESET BIT(7)
132 #define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4)
133 #define ADIS16203_GLOB_CMD_FACTORY_CAL BIT(1)
134
135 #define ADIS16203_ERROR_ACTIVE BIT(14)
136
137 enum adis16203_scan {
138 ADIS16203_SCAN_INCLI_X,
139 ADIS16203_SCAN_INCLI_Y,
140 ADIS16203_SCAN_SUPPLY,
141 ADIS16203_SCAN_AUX_ADC,
142 ADIS16203_SCAN_TEMP,
143 };
144
145 #define DRIVER_NAME "adis16203"
146
147 static const u8 adis16203_addresses[] = {
148 [ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
149 };
150
adis16203_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)151 static int adis16203_write_raw(struct iio_dev *indio_dev,
152 struct iio_chan_spec const *chan,
153 int val,
154 int val2,
155 long mask)
156 {
157 struct adis *st = iio_priv(indio_dev);
158 /* currently only one writable parameter which keeps this simple */
159 u8 addr = adis16203_addresses[chan->scan_index];
160
161 return adis_write_reg_16(st, addr, val & 0x3FFF);
162 }
163
adis16203_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)164 static int adis16203_read_raw(struct iio_dev *indio_dev,
165 struct iio_chan_spec const *chan,
166 int *val, int *val2,
167 long mask)
168 {
169 struct adis *st = iio_priv(indio_dev);
170 int ret;
171 u8 addr;
172 s16 val16;
173
174 switch (mask) {
175 case IIO_CHAN_INFO_RAW:
176 return adis_single_conversion(indio_dev, chan,
177 ADIS16203_ERROR_ACTIVE, val);
178 case IIO_CHAN_INFO_SCALE:
179 switch (chan->type) {
180 case IIO_VOLTAGE:
181 if (chan->channel == 0) {
182 *val = 1;
183 *val2 = 220000; /* 1.22 mV */
184 } else {
185 *val = 0;
186 *val2 = 610000; /* 0.61 mV */
187 }
188 return IIO_VAL_INT_PLUS_MICRO;
189 case IIO_TEMP:
190 *val = -470; /* -0.47 C */
191 *val2 = 0;
192 return IIO_VAL_INT_PLUS_MICRO;
193 case IIO_INCLI:
194 *val = 0;
195 *val2 = 25000; /* 0.025 degree */
196 return IIO_VAL_INT_PLUS_MICRO;
197 default:
198 return -EINVAL;
199 }
200 case IIO_CHAN_INFO_OFFSET:
201 *val = 25000 / -470 - 1278; /* 25 C = 1278 */
202 return IIO_VAL_INT;
203 case IIO_CHAN_INFO_CALIBBIAS:
204 addr = adis16203_addresses[chan->scan_index];
205 ret = adis_read_reg_16(st, addr, &val16);
206 if (ret)
207 return ret;
208 *val = sign_extend32(val16, 13);
209 return IIO_VAL_INT;
210 default:
211 return -EINVAL;
212 }
213 }
214
215 static const struct iio_chan_spec adis16203_channels[] = {
216 ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
217 ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
218 ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
219 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
220 /* Fixme: Not what it appears to be - see data sheet */
221 ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
222 0, 0, 14),
223 ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
224 IIO_CHAN_SOFT_TIMESTAMP(5),
225 };
226
227 static const struct iio_info adis16203_info = {
228 .read_raw = adis16203_read_raw,
229 .write_raw = adis16203_write_raw,
230 .update_scan_mode = adis_update_scan_mode,
231 };
232
233 static const char * const adis16203_status_error_msgs[] = {
234 [ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
235 [ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
236 [ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
237 [ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
238 [ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
239 };
240
241 static const struct adis_data adis16203_data = {
242 .read_delay = 20,
243 .msc_ctrl_reg = ADIS16203_MSC_CTRL,
244 .glob_cmd_reg = ADIS16203_GLOB_CMD,
245 .diag_stat_reg = ADIS16203_DIAG_STAT,
246
247 .self_test_mask = ADIS16203_MSC_CTRL_SELF_TEST_EN,
248 .self_test_no_autoclear = true,
249 .startup_delay = ADIS16203_STARTUP_DELAY,
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
adis16203_probe(struct spi_device * spi)259 static 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(&spi->dev, 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, indio_dev);
272
273 indio_dev->name = spi->dev.driver->name;
274 indio_dev->dev.parent = &spi->dev;
275 indio_dev->channels = adis16203_channels;
276 indio_dev->num_channels = ARRAY_SIZE(adis16203_channels);
277 indio_dev->info = &adis16203_info;
278 indio_dev->modes = INDIO_DIRECT_MODE;
279
280 ret = adis_init(st, indio_dev, spi, &adis16203_data);
281 if (ret)
282 return ret;
283
284 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
285 if (ret)
286 return ret;
287
288 /* Get the device into a sane initial state */
289 ret = adis_initial_startup(st);
290 if (ret)
291 goto error_cleanup_buffer_trigger;
292
293 ret = iio_device_register(indio_dev);
294 if (ret)
295 goto error_cleanup_buffer_trigger;
296
297 return 0;
298
299 error_cleanup_buffer_trigger:
300 adis_cleanup_buffer_and_trigger(st, indio_dev);
301 return ret;
302 }
303
adis16203_remove(struct spi_device * spi)304 static int adis16203_remove(struct spi_device *spi)
305 {
306 struct iio_dev *indio_dev = spi_get_drvdata(spi);
307 struct adis *st = iio_priv(indio_dev);
308
309 iio_device_unregister(indio_dev);
310 adis_cleanup_buffer_and_trigger(st, indio_dev);
311
312 return 0;
313 }
314
315 static struct spi_driver adis16203_driver = {
316 .driver = {
317 .name = "adis16203",
318 },
319 .probe = adis16203_probe,
320 .remove = adis16203_remove,
321 };
322 module_spi_driver(adis16203_driver);
323
324 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
325 MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
326 MODULE_LICENSE("GPL v2");
327 MODULE_ALIAS("spi:adis16203");
328
