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
130 enum 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
140 static const u8 adis16203_addresses[] = {
141 [ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
142 };
143
adis16203_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)144 static 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
adis16203_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)157 static 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
208 static 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
220 static 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
226 static 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
234 static 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
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_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
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->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
295 static const struct of_device_id adis16203_of_match[] = {
296 { .compatible = "adi,adis16203" },
297 { },
298 };
299
300 MODULE_DEVICE_TABLE(of, adis16203_of_match);
301
302 static struct spi_driver adis16203_driver = {
303 .driver = {
304 .name = "adis16203",
305 .of_match_table = adis16203_of_match,
306 },
307 .probe = adis16203_probe,
308 };
309 module_spi_driver(adis16203_driver);
310
311 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
312 MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
313 MODULE_LICENSE("GPL v2");
314 MODULE_ALIAS("spi:adis16203");
315 MODULE_IMPORT_NS(IIO_ADISLIB);
316