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/delay.h>
9 #include <linux/device.h>
10
11 #include <linux/iio/buffer.h>
12 #include <linux/iio/iio.h>
13 #include <linux/iio/imu/adis.h>
14 #include <linux/iio/sysfs.h>
15
16 #include <linux/kernel.h>
17 #include <linux/module.h>
18 #include <linux/mutex.h>
19 #include <linux/slab.h>
20 #include <linux/spi/spi.h>
21 #include <linux/sysfs.h>
22
23 #define ADIS16203_STARTUP_DELAY 220 /* ms */
24
25 /* Flash memory write count */
26 #define ADIS16203_FLASH_CNT 0x00
27
28 /* Output, power supply */
29 #define ADIS16203_SUPPLY_OUT 0x02
30
31 /* Output, auxiliary ADC input */
32 #define ADIS16203_AUX_ADC 0x08
33
34 /* Output, temperature */
35 #define ADIS16203_TEMP_OUT 0x0A
36
37 /* Output, x-axis inclination */
38 #define ADIS16203_XINCL_OUT 0x0C
39
40 /* Output, y-axis inclination */
41 #define ADIS16203_YINCL_OUT 0x0E
42
43 /* Incline null calibration */
44 #define ADIS16203_INCL_NULL 0x18
45
46 /* Alarm 1 amplitude threshold */
47 #define ADIS16203_ALM_MAG1 0x20
48
49 /* Alarm 2 amplitude threshold */
50 #define ADIS16203_ALM_MAG2 0x22
51
52 /* Alarm 1, sample period */
53 #define ADIS16203_ALM_SMPL1 0x24
54
55 /* Alarm 2, sample period */
56 #define ADIS16203_ALM_SMPL2 0x26
57
58 /* Alarm control */
59 #define ADIS16203_ALM_CTRL 0x28
60
61 /* Auxiliary DAC data */
62 #define ADIS16203_AUX_DAC 0x30
63
64 /* General-purpose digital input/output control */
65 #define ADIS16203_GPIO_CTRL 0x32
66
67 /* Miscellaneous control */
68 #define ADIS16203_MSC_CTRL 0x34
69
70 /* Internal sample period (rate) control */
71 #define ADIS16203_SMPL_PRD 0x36
72
73 /* Operation, filter configuration */
74 #define ADIS16203_AVG_CNT 0x38
75
76 /* Operation, sleep mode control */
77 #define ADIS16203_SLP_CNT 0x3A
78
79 /* Diagnostics, system status register */
80 #define ADIS16203_DIAG_STAT 0x3C
81
82 /* Operation, system command register */
83 #define ADIS16203_GLOB_CMD 0x3E
84
85 /* MSC_CTRL */
86
87 /* Self-test at power-on: 1 = disabled, 0 = enabled */
88 #define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
89
90 /* Reverses rotation of both inclination outputs */
91 #define ADIS16203_MSC_CTRL_REVERSE_ROT_EN BIT(9)
92
93 /* Self-test enable */
94 #define ADIS16203_MSC_CTRL_SELF_TEST_EN BIT(8)
95
96 /* Data-ready enable: 1 = enabled, 0 = disabled */
97 #define ADIS16203_MSC_CTRL_DATA_RDY_EN BIT(2)
98
99 /* Data-ready polarity: 1 = active high, 0 = active low */
100 #define ADIS16203_MSC_CTRL_ACTIVE_HIGH BIT(1)
101
102 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
103 #define ADIS16203_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
104
105 /* DIAG_STAT */
106
107 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
108 #define ADIS16203_DIAG_STAT_ALARM2 BIT(9)
109
110 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
111 #define ADIS16203_DIAG_STAT_ALARM1 BIT(8)
112
113 /* Self-test diagnostic error flag */
114 #define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
115
116 /* SPI communications failure */
117 #define ADIS16203_DIAG_STAT_SPI_FAIL_BIT 3
118
119 /* Flash update failure */
120 #define ADIS16203_DIAG_STAT_FLASH_UPT_BIT 2
121
122 /* Power supply above 3.625 V */
123 #define ADIS16203_DIAG_STAT_POWER_HIGH_BIT 1
124
125 /* Power supply below 2.975 V */
126 #define ADIS16203_DIAG_STAT_POWER_LOW_BIT 0
127
128 /* GLOB_CMD */
129
130 #define ADIS16203_GLOB_CMD_SW_RESET BIT(7)
131 #define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4)
132 #define ADIS16203_GLOB_CMD_FACTORY_CAL BIT(1)
133
134 #define ADIS16203_ERROR_ACTIVE BIT(14)
135
136 enum adis16203_scan {
137 ADIS16203_SCAN_INCLI_X,
138 ADIS16203_SCAN_INCLI_Y,
139 ADIS16203_SCAN_SUPPLY,
140 ADIS16203_SCAN_AUX_ADC,
141 ADIS16203_SCAN_TEMP,
142 };
143
144 #define DRIVER_NAME "adis16203"
145
146 static const u8 adis16203_addresses[] = {
147 [ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
148 };
149
adis16203_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)150 static int adis16203_write_raw(struct iio_dev *indio_dev,
151 struct iio_chan_spec const *chan,
152 int val,
153 int val2,
154 long mask)
155 {
156 struct adis *st = iio_priv(indio_dev);
157 /* currently only one writable parameter which keeps this simple */
158 u8 addr = adis16203_addresses[chan->scan_index];
159
160 return adis_write_reg_16(st, addr, val & 0x3FFF);
161 }
162
adis16203_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)163 static int adis16203_read_raw(struct iio_dev *indio_dev,
164 struct iio_chan_spec const *chan,
165 int *val, int *val2,
166 long mask)
167 {
168 struct adis *st = iio_priv(indio_dev);
169 int ret;
170 u8 addr;
171 s16 val16;
172
173 switch (mask) {
174 case IIO_CHAN_INFO_RAW:
175 return adis_single_conversion(indio_dev, chan,
176 ADIS16203_ERROR_ACTIVE, val);
177 case IIO_CHAN_INFO_SCALE:
178 switch (chan->type) {
179 case IIO_VOLTAGE:
180 if (chan->channel == 0) {
181 *val = 1;
182 *val2 = 220000; /* 1.22 mV */
183 } else {
184 *val = 0;
185 *val2 = 610000; /* 0.61 mV */
186 }
187 return IIO_VAL_INT_PLUS_MICRO;
188 case IIO_TEMP:
189 *val = -470; /* -0.47 C */
190 *val2 = 0;
191 return IIO_VAL_INT_PLUS_MICRO;
192 case IIO_INCLI:
193 *val = 0;
194 *val2 = 25000; /* 0.025 degree */
195 return IIO_VAL_INT_PLUS_MICRO;
196 default:
197 return -EINVAL;
198 }
199 case IIO_CHAN_INFO_OFFSET:
200 *val = 25000 / -470 - 1278; /* 25 C = 1278 */
201 return IIO_VAL_INT;
202 case IIO_CHAN_INFO_CALIBBIAS:
203 addr = adis16203_addresses[chan->scan_index];
204 ret = adis_read_reg_16(st, addr, &val16);
205 if (ret)
206 return ret;
207 *val = sign_extend32(val16, 13);
208 return IIO_VAL_INT;
209 default:
210 return -EINVAL;
211 }
212 }
213
214 static const struct iio_chan_spec adis16203_channels[] = {
215 ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
216 ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
217 ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
218 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
219 /* Fixme: Not what it appears to be - see data sheet */
220 ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
221 0, 0, 14),
222 ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
223 IIO_CHAN_SOFT_TIMESTAMP(5),
224 };
225
226 static const struct iio_info adis16203_info = {
227 .read_raw = adis16203_read_raw,
228 .write_raw = adis16203_write_raw,
229 .update_scan_mode = adis_update_scan_mode,
230 };
231
232 static const char * const adis16203_status_error_msgs[] = {
233 [ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
234 [ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
235 [ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
236 [ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
237 [ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
238 };
239
240 static 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_no_autoclear = true,
248 .startup_delay = ADIS16203_STARTUP_DELAY,
249
250 .status_error_msgs = adis16203_status_error_msgs,
251 .status_error_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) |
252 BIT(ADIS16203_DIAG_STAT_SPI_FAIL_BIT) |
253 BIT(ADIS16203_DIAG_STAT_FLASH_UPT_BIT) |
254 BIT(ADIS16203_DIAG_STAT_POWER_HIGH_BIT) |
255 BIT(ADIS16203_DIAG_STAT_POWER_LOW_BIT),
256 };
257
adis16203_probe(struct spi_device * spi)258 static int adis16203_probe(struct spi_device *spi)
259 {
260 int ret;
261 struct iio_dev *indio_dev;
262 struct adis *st;
263
264 /* setup the industrialio driver allocated elements */
265 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
266 if (!indio_dev)
267 return -ENOMEM;
268 st = iio_priv(indio_dev);
269 /* this is only used for removal purposes */
270 spi_set_drvdata(spi, indio_dev);
271
272 indio_dev->name = spi->dev.driver->name;
273 indio_dev->dev.parent = &spi->dev;
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(st, indio_dev, spi, &adis16203_data);
280 if (ret)
281 return ret;
282
283 ret = adis_setup_buffer_and_trigger(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(st);
289 if (ret)
290 goto error_cleanup_buffer_trigger;
291
292 ret = iio_device_register(indio_dev);
293 if (ret)
294 goto error_cleanup_buffer_trigger;
295
296 return 0;
297
298 error_cleanup_buffer_trigger:
299 adis_cleanup_buffer_and_trigger(st, indio_dev);
300 return ret;
301 }
302
adis16203_remove(struct spi_device * spi)303 static int adis16203_remove(struct spi_device *spi)
304 {
305 struct iio_dev *indio_dev = spi_get_drvdata(spi);
306 struct adis *st = iio_priv(indio_dev);
307
308 iio_device_unregister(indio_dev);
309 adis_cleanup_buffer_and_trigger(st, indio_dev);
310
311 return 0;
312 }
313
314 static const struct of_device_id adis16203_of_match[] = {
315 { .compatible = "adi,adis16203" },
316 { },
317 };
318
319 MODULE_DEVICE_TABLE(of, adis16203_of_match);
320
321 static struct spi_driver adis16203_driver = {
322 .driver = {
323 .name = "adis16203",
324 .of_match_table = adis16203_of_match,
325 },
326 .probe = adis16203_probe,
327 .remove = adis16203_remove,
328 };
329 module_spi_driver(adis16203_driver);
330
331 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
332 MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
333 MODULE_LICENSE("GPL v2");
334 MODULE_ALIAS("spi:adis16203");
335
