304 lines
8.3 KiB
C
304 lines
8.3 KiB
C
// SPDX-License-Identifier: GPL-2.0-or-later
|
|
/*
|
|
* ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer
|
|
*
|
|
* Copyright 2010 Analog Devices Inc.
|
|
*/
|
|
|
|
#include <linux/device.h>
|
|
#include <linux/kernel.h>
|
|
#include <linux/module.h>
|
|
#include <linux/spi/spi.h>
|
|
|
|
#include <linux/iio/iio.h>
|
|
#include <linux/iio/imu/adis.h>
|
|
|
|
#define ADIS16201_STARTUP_DELAY_MS 220
|
|
#define ADIS16201_FLASH_CNT 0x00
|
|
|
|
/* Data Output Register Information */
|
|
#define ADIS16201_SUPPLY_OUT_REG 0x02
|
|
#define ADIS16201_XACCL_OUT_REG 0x04
|
|
#define ADIS16201_YACCL_OUT_REG 0x06
|
|
#define ADIS16201_AUX_ADC_REG 0x08
|
|
#define ADIS16201_TEMP_OUT_REG 0x0A
|
|
#define ADIS16201_XINCL_OUT_REG 0x0C
|
|
#define ADIS16201_YINCL_OUT_REG 0x0E
|
|
|
|
/* Calibration Register Definition */
|
|
#define ADIS16201_XACCL_OFFS_REG 0x10
|
|
#define ADIS16201_YACCL_OFFS_REG 0x12
|
|
#define ADIS16201_XACCL_SCALE_REG 0x14
|
|
#define ADIS16201_YACCL_SCALE_REG 0x16
|
|
#define ADIS16201_XINCL_OFFS_REG 0x18
|
|
#define ADIS16201_YINCL_OFFS_REG 0x1A
|
|
#define ADIS16201_XINCL_SCALE_REG 0x1C
|
|
#define ADIS16201_YINCL_SCALE_REG 0x1E
|
|
|
|
/* Alarm Register Definition */
|
|
#define ADIS16201_ALM_MAG1_REG 0x20
|
|
#define ADIS16201_ALM_MAG2_REG 0x22
|
|
#define ADIS16201_ALM_SMPL1_REG 0x24
|
|
#define ADIS16201_ALM_SMPL2_REG 0x26
|
|
#define ADIS16201_ALM_CTRL_REG 0x28
|
|
|
|
#define ADIS16201_AUX_DAC_REG 0x30
|
|
#define ADIS16201_GPIO_CTRL_REG 0x32
|
|
#define ADIS16201_SMPL_PRD_REG 0x36
|
|
/* Operation, filter configuration */
|
|
#define ADIS16201_AVG_CNT_REG 0x38
|
|
#define ADIS16201_SLP_CNT_REG 0x3A
|
|
|
|
/* Miscellaneous Control Register Definition */
|
|
#define ADIS16201_MSC_CTRL_REG 0x34
|
|
#define ADIS16201_MSC_CTRL_SELF_TEST_EN BIT(8)
|
|
/* Data-ready enable: 1 = enabled, 0 = disabled */
|
|
#define ADIS16201_MSC_CTRL_DATA_RDY_EN BIT(2)
|
|
/* Data-ready polarity: 1 = active high, 0 = active low */
|
|
#define ADIS16201_MSC_CTRL_ACTIVE_DATA_RDY_HIGH BIT(1)
|
|
/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
|
|
#define ADIS16201_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
|
|
|
|
/* Diagnostics System Status Register Definition */
|
|
#define ADIS16201_DIAG_STAT_REG 0x3C
|
|
#define ADIS16201_DIAG_STAT_ALARM2 BIT(9)
|
|
#define ADIS16201_DIAG_STAT_ALARM1 BIT(8)
|
|
#define ADIS16201_DIAG_STAT_SPI_FAIL_BIT 3
|
|
#define ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT 2
|
|
/* Power supply above 3.625 V */
|
|
#define ADIS16201_DIAG_STAT_POWER_HIGH_BIT 1
|
|
/* Power supply below 2.975 V */
|
|
#define ADIS16201_DIAG_STAT_POWER_LOW_BIT 0
|
|
|
|
/* System Command Register Definition */
|
|
#define ADIS16201_GLOB_CMD_REG 0x3E
|
|
#define ADIS16201_GLOB_CMD_SW_RESET BIT(7)
|
|
#define ADIS16201_GLOB_CMD_FACTORY_RESET BIT(1)
|
|
|
|
#define ADIS16201_ERROR_ACTIVE BIT(14)
|
|
|
|
enum adis16201_scan {
|
|
ADIS16201_SCAN_ACC_X,
|
|
ADIS16201_SCAN_ACC_Y,
|
|
ADIS16201_SCAN_INCLI_X,
|
|
ADIS16201_SCAN_INCLI_Y,
|
|
ADIS16201_SCAN_SUPPLY,
|
|
ADIS16201_SCAN_AUX_ADC,
|
|
ADIS16201_SCAN_TEMP,
|
|
};
|
|
|
|
static const u8 adis16201_addresses[] = {
|
|
[ADIS16201_SCAN_ACC_X] = ADIS16201_XACCL_OFFS_REG,
|
|
[ADIS16201_SCAN_ACC_Y] = ADIS16201_YACCL_OFFS_REG,
|
|
[ADIS16201_SCAN_INCLI_X] = ADIS16201_XINCL_OFFS_REG,
|
|
[ADIS16201_SCAN_INCLI_Y] = ADIS16201_YINCL_OFFS_REG,
|
|
};
|
|
|
|
static int adis16201_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,
|
|
ADIS16201_ERROR_ACTIVE, val);
|
|
case IIO_CHAN_INFO_SCALE:
|
|
switch (chan->type) {
|
|
case IIO_VOLTAGE:
|
|
if (chan->channel == 0) {
|
|
/* Voltage base units are mV hence 1.22 mV */
|
|
*val = 1;
|
|
*val2 = 220000;
|
|
} else {
|
|
/* Voltage base units are mV hence 0.61 mV */
|
|
*val = 0;
|
|
*val2 = 610000;
|
|
}
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_TEMP:
|
|
*val = -470;
|
|
*val2 = 0;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
case IIO_ACCEL:
|
|
/*
|
|
* IIO base unit for sensitivity of accelerometer
|
|
* is milli g.
|
|
* 1 LSB represents 0.244 mg.
|
|
*/
|
|
*val = 0;
|
|
*val2 = IIO_G_TO_M_S_2(462400);
|
|
return IIO_VAL_INT_PLUS_NANO;
|
|
case IIO_INCLI:
|
|
*val = 0;
|
|
*val2 = 100000;
|
|
return IIO_VAL_INT_PLUS_MICRO;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
break;
|
|
case IIO_CHAN_INFO_OFFSET:
|
|
/*
|
|
* The raw ADC value is 1278 when the temperature
|
|
* is 25 degrees and the scale factor per milli
|
|
* degree celcius is -470.
|
|
*/
|
|
*val = 25000 / -470 - 1278;
|
|
return IIO_VAL_INT;
|
|
case IIO_CHAN_INFO_CALIBBIAS:
|
|
switch (chan->type) {
|
|
case IIO_ACCEL:
|
|
bits = 12;
|
|
break;
|
|
case IIO_INCLI:
|
|
bits = 9;
|
|
break;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
addr = adis16201_addresses[chan->scan_index];
|
|
ret = adis_read_reg_16(st, addr, &val16);
|
|
if (ret)
|
|
return ret;
|
|
|
|
*val = sign_extend32(val16, bits - 1);
|
|
return IIO_VAL_INT;
|
|
}
|
|
|
|
return -EINVAL;
|
|
}
|
|
|
|
static int adis16201_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 m;
|
|
|
|
if (mask != IIO_CHAN_INFO_CALIBBIAS)
|
|
return -EINVAL;
|
|
|
|
switch (chan->type) {
|
|
case IIO_ACCEL:
|
|
m = GENMASK(11, 0);
|
|
break;
|
|
case IIO_INCLI:
|
|
m = GENMASK(8, 0);
|
|
break;
|
|
default:
|
|
return -EINVAL;
|
|
}
|
|
|
|
return adis_write_reg_16(st, adis16201_addresses[chan->scan_index],
|
|
val & m);
|
|
}
|
|
|
|
static const struct iio_chan_spec adis16201_channels[] = {
|
|
ADIS_SUPPLY_CHAN(ADIS16201_SUPPLY_OUT_REG, ADIS16201_SCAN_SUPPLY, 0,
|
|
12),
|
|
ADIS_TEMP_CHAN(ADIS16201_TEMP_OUT_REG, ADIS16201_SCAN_TEMP, 0, 12),
|
|
ADIS_ACCEL_CHAN(X, ADIS16201_XACCL_OUT_REG, ADIS16201_SCAN_ACC_X,
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
|
|
ADIS_ACCEL_CHAN(Y, ADIS16201_YACCL_OUT_REG, ADIS16201_SCAN_ACC_Y,
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
|
|
ADIS_AUX_ADC_CHAN(ADIS16201_AUX_ADC_REG, ADIS16201_SCAN_AUX_ADC, 0, 12),
|
|
ADIS_INCLI_CHAN(X, ADIS16201_XINCL_OUT_REG, ADIS16201_SCAN_INCLI_X,
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
|
|
ADIS_INCLI_CHAN(Y, ADIS16201_YINCL_OUT_REG, ADIS16201_SCAN_INCLI_Y,
|
|
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
|
|
IIO_CHAN_SOFT_TIMESTAMP(7)
|
|
};
|
|
|
|
static const struct iio_info adis16201_info = {
|
|
.read_raw = adis16201_read_raw,
|
|
.write_raw = adis16201_write_raw,
|
|
.update_scan_mode = adis_update_scan_mode,
|
|
};
|
|
|
|
static const char * const adis16201_status_error_msgs[] = {
|
|
[ADIS16201_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
|
|
[ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT] = "Flash update failed",
|
|
[ADIS16201_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
|
|
[ADIS16201_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
|
|
};
|
|
|
|
static const struct adis_timeout adis16201_timeouts = {
|
|
.reset_ms = ADIS16201_STARTUP_DELAY_MS,
|
|
.sw_reset_ms = ADIS16201_STARTUP_DELAY_MS,
|
|
.self_test_ms = ADIS16201_STARTUP_DELAY_MS,
|
|
};
|
|
|
|
static const struct adis_data adis16201_data = {
|
|
.read_delay = 20,
|
|
.msc_ctrl_reg = ADIS16201_MSC_CTRL_REG,
|
|
.glob_cmd_reg = ADIS16201_GLOB_CMD_REG,
|
|
.diag_stat_reg = ADIS16201_DIAG_STAT_REG,
|
|
|
|
.self_test_mask = ADIS16201_MSC_CTRL_SELF_TEST_EN,
|
|
.self_test_reg = ADIS16201_MSC_CTRL_REG,
|
|
.self_test_no_autoclear = true,
|
|
.timeouts = &adis16201_timeouts,
|
|
|
|
.status_error_msgs = adis16201_status_error_msgs,
|
|
.status_error_mask = BIT(ADIS16201_DIAG_STAT_SPI_FAIL_BIT) |
|
|
BIT(ADIS16201_DIAG_STAT_FLASH_UPT_FAIL_BIT) |
|
|
BIT(ADIS16201_DIAG_STAT_POWER_HIGH_BIT) |
|
|
BIT(ADIS16201_DIAG_STAT_POWER_LOW_BIT),
|
|
};
|
|
|
|
static int adis16201_probe(struct spi_device *spi)
|
|
{
|
|
struct iio_dev *indio_dev;
|
|
struct adis *st;
|
|
int ret;
|
|
|
|
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
|
|
if (!indio_dev)
|
|
return -ENOMEM;
|
|
|
|
st = iio_priv(indio_dev);
|
|
|
|
indio_dev->name = spi->dev.driver->name;
|
|
indio_dev->info = &adis16201_info;
|
|
|
|
indio_dev->channels = adis16201_channels;
|
|
indio_dev->num_channels = ARRAY_SIZE(adis16201_channels);
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
ret = adis_init(st, indio_dev, spi, &adis16201_data);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
|
|
if (ret)
|
|
return ret;
|
|
|
|
ret = adis_initial_startup(st);
|
|
if (ret)
|
|
return ret;
|
|
|
|
return devm_iio_device_register(&spi->dev, indio_dev);
|
|
}
|
|
|
|
static struct spi_driver adis16201_driver = {
|
|
.driver = {
|
|
.name = "adis16201",
|
|
},
|
|
.probe = adis16201_probe,
|
|
};
|
|
module_spi_driver(adis16201_driver);
|
|
|
|
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
|
|
MODULE_DESCRIPTION("Analog Devices ADIS16201 Dual-Axis Digital Inclinometer and Accelerometer");
|
|
MODULE_LICENSE("GPL v2");
|
|
MODULE_ALIAS("spi:adis16201");
|
|
MODULE_IMPORT_NS(IIO_ADISLIB);
|