adis16203.c

  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/device.h>
  9
 10#include <linux/iio/iio.h>
 11#include <linux/iio/imu/adis.h>
 12
 13#include <linux/kernel.h>
 14#include <linux/module.h>
 15#include <linux/spi/spi.h>
 16
 17#define ADIS16203_STARTUP_DELAY 220 /* ms */
 18
 19/* Flash memory write count */
 20#define ADIS16203_FLASH_CNT      0x00
 21
 22/* Output, power supply */
 23#define ADIS16203_SUPPLY_OUT     0x02
 24
 25/* Output, auxiliary ADC input */
 26#define ADIS16203_AUX_ADC        0x08
 27
 28/* Output, temperature */
 29#define ADIS16203_TEMP_OUT       0x0A
 30
 31/* Output, x-axis inclination */
 32#define ADIS16203_XINCL_OUT      0x0C
 33
 34/* Output, y-axis inclination */
 35#define ADIS16203_YINCL_OUT      0x0E
 36
 37/* Incline null calibration */
 38#define ADIS16203_INCL_NULL      0x18
 39
 40/* Alarm 1 amplitude threshold */
 41#define ADIS16203_ALM_MAG1       0x20
 42
 43/* Alarm 2 amplitude threshold */
 44#define ADIS16203_ALM_MAG2       0x22
 45
 46/* Alarm 1, sample period */
 47#define ADIS16203_ALM_SMPL1      0x24
 48
 49/* Alarm 2, sample period */
 50#define ADIS16203_ALM_SMPL2      0x26
 51
 52/* Alarm control */
 53#define ADIS16203_ALM_CTRL       0x28
 54
 55/* Auxiliary DAC data */
 56#define ADIS16203_AUX_DAC        0x30
 57
 58/* General-purpose digital input/output control */
 59#define ADIS16203_GPIO_CTRL      0x32
 60
 61/* Miscellaneous control */
 62#define ADIS16203_MSC_CTRL       0x34
 63
 64/* Internal sample period (rate) control */
 65#define ADIS16203_SMPL_PRD       0x36
 66
 67/* Operation, filter configuration */
 68#define ADIS16203_AVG_CNT        0x38
 69
 70/* Operation, sleep mode control */
 71#define ADIS16203_SLP_CNT        0x3A
 72
 73/* Diagnostics, system status register */
 74#define ADIS16203_DIAG_STAT      0x3C
 75
 76/* Operation, system command register */
 77#define ADIS16203_GLOB_CMD       0x3E
 78
 79/* MSC_CTRL */
 80
 81/* Self-test at power-on: 1 = disabled, 0 = enabled */
 82#define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST      BIT(10)
 83
 84/* Reverses rotation of both inclination outputs */
 85#define ADIS16203_MSC_CTRL_REVERSE_ROT_EN       BIT(9)
 86
 87/* Self-test enable */
 88#define ADIS16203_MSC_CTRL_SELF_TEST_EN         BIT(8)
 89
 90/* Data-ready enable: 1 = enabled, 0 = disabled */
 91#define ADIS16203_MSC_CTRL_DATA_RDY_EN          BIT(2)
 92
 93/* Data-ready polarity: 1 = active high, 0 = active low */
 94#define ADIS16203_MSC_CTRL_ACTIVE_HIGH          BIT(1)
 95
 96/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
 97#define ADIS16203_MSC_CTRL_DATA_RDY_DIO1        BIT(0)
 98
 99/* DIAG_STAT */
100
101/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
102#define ADIS16203_DIAG_STAT_ALARM2        BIT(9)
103
104/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
105#define ADIS16203_DIAG_STAT_ALARM1        BIT(8)
106
107/* Self-test diagnostic error flag */
108#define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
109
110/* SPI communications failure */
111#define ADIS16203_DIAG_STAT_SPI_FAIL_BIT      3
112
113/* Flash update failure */
114#define ADIS16203_DIAG_STAT_FLASH_UPT_BIT     2
115
116/* Power supply above 3.625 V */
117#define ADIS16203_DIAG_STAT_POWER_HIGH_BIT    1
118
119/* Power supply below 2.975 V */
120#define ADIS16203_DIAG_STAT_POWER_LOW_BIT     0
121
122/* GLOB_CMD */
123
124#define ADIS16203_GLOB_CMD_SW_RESET     BIT(7)
125#define ADIS16203_GLOB_CMD_CLEAR_STAT   BIT(4)
126#define ADIS16203_GLOB_CMD_FACTORY_CAL  BIT(1)
127
128#define ADIS16203_ERROR_ACTIVE          BIT(14)
129
130enum adis16203_scan {
131	 ADIS16203_SCAN_INCLI_X,
132	 ADIS16203_SCAN_INCLI_Y,
133	 ADIS16203_SCAN_SUPPLY,
134	 ADIS16203_SCAN_AUX_ADC,
135	 ADIS16203_SCAN_TEMP,
136};
137
138#define DRIVER_NAME		"adis16203"
139
140static const u8 adis16203_addresses[] = {
141	[ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
142};
143
144static int adis16203_write_raw(struct iio_dev *indio_dev,
145			       struct iio_chan_spec const *chan,
146			       int val,
147			       int val2,
148			       long mask)
149{
150	struct adis *st = iio_priv(indio_dev);
151	/* currently only one writable parameter which keeps this simple */
152	u8 addr = adis16203_addresses[chan->scan_index];
153
154	return adis_write_reg_16(st, addr, val & 0x3FFF);
155}
156
157static int adis16203_read_raw(struct iio_dev *indio_dev,
158			      struct iio_chan_spec const *chan,
159			      int *val, int *val2,
160			      long mask)
161{
162	struct adis *st = iio_priv(indio_dev);
163	int ret;
164	u8 addr;
165	s16 val16;
166
167	switch (mask) {
168	case IIO_CHAN_INFO_RAW:
169		return adis_single_conversion(indio_dev, chan,
170				ADIS16203_ERROR_ACTIVE, val);
171	case IIO_CHAN_INFO_SCALE:
172		switch (chan->type) {
173		case IIO_VOLTAGE:
174			if (chan->channel == 0) {
175				*val = 1;
176				*val2 = 220000; /* 1.22 mV */
177			} else {
178				*val = 0;
179				*val2 = 610000; /* 0.61 mV */
180			}
181			return IIO_VAL_INT_PLUS_MICRO;
182		case IIO_TEMP:
183			*val = -470; /* -0.47 C */
184			*val2 = 0;
185			return IIO_VAL_INT_PLUS_MICRO;
186		case IIO_INCLI:
187			*val = 0;
188			*val2 = 25000; /* 0.025 degree */
189			return IIO_VAL_INT_PLUS_MICRO;
190		default:
191			return -EINVAL;
192		}
193	case IIO_CHAN_INFO_OFFSET:
194		*val = 25000 / -470 - 1278; /* 25 C = 1278 */
195		return IIO_VAL_INT;
196	case IIO_CHAN_INFO_CALIBBIAS:
197		addr = adis16203_addresses[chan->scan_index];
198		ret = adis_read_reg_16(st, addr, &val16);
199		if (ret)
200			return ret;
201		*val = sign_extend32(val16, 13);
202		return IIO_VAL_INT;
203	default:
204		return -EINVAL;
205	}
206}
207
208static const struct iio_chan_spec adis16203_channels[] = {
209	ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
210	ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
211	ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
212			BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
213	/* Fixme: Not what it appears to be - see data sheet */
214	ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
215			0, 0, 14),
216	ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
217	IIO_CHAN_SOFT_TIMESTAMP(5),
218};
219
220static const struct iio_info adis16203_info = {
221	.read_raw = adis16203_read_raw,
222	.write_raw = adis16203_write_raw,
223	.update_scan_mode = adis_update_scan_mode,
224};
225
226static const char * const adis16203_status_error_msgs[] = {
227	[ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
228	[ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
229	[ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
230	[ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
231	[ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
232};
233
234static const struct adis_timeout adis16203_timeouts = {
235	.reset_ms = ADIS16203_STARTUP_DELAY,
236	.sw_reset_ms = ADIS16203_STARTUP_DELAY,
237	.self_test_ms = ADIS16203_STARTUP_DELAY
238};
239
240static 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_reg = ADIS16203_MSC_CTRL,
248	.self_test_no_autoclear = true,
249	.timeouts = &adis16203_timeouts,
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
259static 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->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 = devm_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		return ret;
291
292	return devm_iio_device_register(&spi->dev, indio_dev);
293}
294
295static const struct of_device_id adis16203_of_match[] = {
296	{ .compatible = "adi,adis16203" },
297	{ }
298};
299
300MODULE_DEVICE_TABLE(of, adis16203_of_match);
301
302static struct spi_driver adis16203_driver = {
303	.driver = {
304		.name = "adis16203",
305		.of_match_table = adis16203_of_match,
306	},
307	.probe = adis16203_probe,
308};
309module_spi_driver(adis16203_driver);
310
311MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
312MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
313MODULE_LICENSE("GPL v2");
314MODULE_ALIAS("spi:adis16203");
315MODULE_IMPORT_NS("IIO_ADISLIB");