1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
|
// SPDX-License-Identifier: GPL-2.0+
/*
* ADIS16203 Programmable 360 Degrees Inclinometer
*
* Copyright 2010 Analog Devices Inc.
*/
#include <linux/device.h>
#include <linux/iio/iio.h>
#include <linux/iio/imu/adis.h>
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/spi/spi.h>
#define ADIS16203_STARTUP_DELAY 220 /* ms */
/* Flash memory write count */
#define ADIS16203_FLASH_CNT 0x00
/* Output, power supply */
#define ADIS16203_SUPPLY_OUT 0x02
/* Output, auxiliary ADC input */
#define ADIS16203_AUX_ADC 0x08
/* Output, temperature */
#define ADIS16203_TEMP_OUT 0x0A
/* Output, x-axis inclination */
#define ADIS16203_XINCL_OUT 0x0C
/* Output, y-axis inclination */
#define ADIS16203_YINCL_OUT 0x0E
/* Incline null calibration */
#define ADIS16203_INCL_NULL 0x18
/* Alarm 1 amplitude threshold */
#define ADIS16203_ALM_MAG1 0x20
/* Alarm 2 amplitude threshold */
#define ADIS16203_ALM_MAG2 0x22
/* Alarm 1, sample period */
#define ADIS16203_ALM_SMPL1 0x24
/* Alarm 2, sample period */
#define ADIS16203_ALM_SMPL2 0x26
/* Alarm control */
#define ADIS16203_ALM_CTRL 0x28
/* Auxiliary DAC data */
#define ADIS16203_AUX_DAC 0x30
/* General-purpose digital input/output control */
#define ADIS16203_GPIO_CTRL 0x32
/* Miscellaneous control */
#define ADIS16203_MSC_CTRL 0x34
/* Internal sample period (rate) control */
#define ADIS16203_SMPL_PRD 0x36
/* Operation, filter configuration */
#define ADIS16203_AVG_CNT 0x38
/* Operation, sleep mode control */
#define ADIS16203_SLP_CNT 0x3A
/* Diagnostics, system status register */
#define ADIS16203_DIAG_STAT 0x3C
/* Operation, system command register */
#define ADIS16203_GLOB_CMD 0x3E
/* MSC_CTRL */
/* Self-test at power-on: 1 = disabled, 0 = enabled */
#define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
/* Reverses rotation of both inclination outputs */
#define ADIS16203_MSC_CTRL_REVERSE_ROT_EN BIT(9)
/* Self-test enable */
#define ADIS16203_MSC_CTRL_SELF_TEST_EN BIT(8)
/* Data-ready enable: 1 = enabled, 0 = disabled */
#define ADIS16203_MSC_CTRL_DATA_RDY_EN BIT(2)
/* Data-ready polarity: 1 = active high, 0 = active low */
#define ADIS16203_MSC_CTRL_ACTIVE_HIGH BIT(1)
/* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
#define ADIS16203_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
/* DIAG_STAT */
/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
#define ADIS16203_DIAG_STAT_ALARM2 BIT(9)
/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
#define ADIS16203_DIAG_STAT_ALARM1 BIT(8)
/* Self-test diagnostic error flag */
#define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
/* SPI communications failure */
#define ADIS16203_DIAG_STAT_SPI_FAIL_BIT 3
/* Flash update failure */
#define ADIS16203_DIAG_STAT_FLASH_UPT_BIT 2
/* Power supply above 3.625 V */
#define ADIS16203_DIAG_STAT_POWER_HIGH_BIT 1
/* Power supply below 2.975 V */
#define ADIS16203_DIAG_STAT_POWER_LOW_BIT 0
/* GLOB_CMD */
#define ADIS16203_GLOB_CMD_SW_RESET BIT(7)
#define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4)
#define ADIS16203_GLOB_CMD_FACTORY_CAL BIT(1)
#define ADIS16203_ERROR_ACTIVE BIT(14)
enum adis16203_scan {
ADIS16203_SCAN_INCLI_X,
ADIS16203_SCAN_INCLI_Y,
ADIS16203_SCAN_SUPPLY,
ADIS16203_SCAN_AUX_ADC,
ADIS16203_SCAN_TEMP,
};
#define DRIVER_NAME "adis16203"
static const u8 adis16203_addresses[] = {
[ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
};
static int adis16203_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);
/* currently only one writable parameter which keeps this simple */
u8 addr = adis16203_addresses[chan->scan_index];
return adis_write_reg_16(st, addr, val & 0x3FFF);
}
static int adis16203_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;
u8 addr;
s16 val16;
switch (mask) {
case IIO_CHAN_INFO_RAW:
return adis_single_conversion(indio_dev, chan,
ADIS16203_ERROR_ACTIVE, val);
case IIO_CHAN_INFO_SCALE:
switch (chan->type) {
case IIO_VOLTAGE:
if (chan->channel == 0) {
*val = 1;
*val2 = 220000; /* 1.22 mV */
} else {
*val = 0;
*val2 = 610000; /* 0.61 mV */
}
return IIO_VAL_INT_PLUS_MICRO;
case IIO_TEMP:
*val = -470; /* -0.47 C */
*val2 = 0;
return IIO_VAL_INT_PLUS_MICRO;
case IIO_INCLI:
*val = 0;
*val2 = 25000; /* 0.025 degree */
return IIO_VAL_INT_PLUS_MICRO;
default:
return -EINVAL;
}
case IIO_CHAN_INFO_OFFSET:
*val = 25000 / -470 - 1278; /* 25 C = 1278 */
return IIO_VAL_INT;
case IIO_CHAN_INFO_CALIBBIAS:
addr = adis16203_addresses[chan->scan_index];
ret = adis_read_reg_16(st, addr, &val16);
if (ret)
return ret;
*val = sign_extend32(val16, 13);
return IIO_VAL_INT;
default:
return -EINVAL;
}
}
static const struct iio_chan_spec adis16203_channels[] = {
ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
/* Fixme: Not what it appears to be - see data sheet */
ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
0, 0, 14),
ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
IIO_CHAN_SOFT_TIMESTAMP(5),
};
static const struct iio_info adis16203_info = {
.read_raw = adis16203_read_raw,
.write_raw = adis16203_write_raw,
.update_scan_mode = adis_update_scan_mode,
};
static const char * const adis16203_status_error_msgs[] = {
[ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
[ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
[ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
[ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
[ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.975V",
};
static const struct adis_timeout adis16203_timeouts = {
.reset_ms = ADIS16203_STARTUP_DELAY,
.sw_reset_ms = ADIS16203_STARTUP_DELAY,
.self_test_ms = ADIS16203_STARTUP_DELAY
};
static const struct adis_data adis16203_data = {
.read_delay = 20,
.msc_ctrl_reg = ADIS16203_MSC_CTRL,
.glob_cmd_reg = ADIS16203_GLOB_CMD,
.diag_stat_reg = ADIS16203_DIAG_STAT,
.self_test_mask = ADIS16203_MSC_CTRL_SELF_TEST_EN,
.self_test_reg = ADIS16203_MSC_CTRL,
.self_test_no_autoclear = true,
.timeouts = &adis16203_timeouts,
.status_error_msgs = adis16203_status_error_msgs,
.status_error_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) |
BIT(ADIS16203_DIAG_STAT_SPI_FAIL_BIT) |
BIT(ADIS16203_DIAG_STAT_FLASH_UPT_BIT) |
BIT(ADIS16203_DIAG_STAT_POWER_HIGH_BIT) |
BIT(ADIS16203_DIAG_STAT_POWER_LOW_BIT),
};
static int adis16203_probe(struct spi_device *spi)
{
int ret;
struct iio_dev *indio_dev;
struct adis *st;
/* setup the industrialio driver allocated elements */
indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
if (!indio_dev)
return -ENOMEM;
st = iio_priv(indio_dev);
/* this is only used for removal purposes */
spi_set_drvdata(spi, indio_dev);
indio_dev->name = spi->dev.driver->name;
indio_dev->channels = adis16203_channels;
indio_dev->num_channels = ARRAY_SIZE(adis16203_channels);
indio_dev->info = &adis16203_info;
indio_dev->modes = INDIO_DIRECT_MODE;
ret = adis_init(st, indio_dev, spi, &adis16203_data);
if (ret)
return ret;
ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
if (ret)
return ret;
/* Get the device into a sane initial state */
ret = adis_initial_startup(st);
if (ret)
return ret;
return devm_iio_device_register(&spi->dev, indio_dev);
}
static const struct of_device_id adis16203_of_match[] = {
{ .compatible = "adi,adis16203" },
{ },
};
MODULE_DEVICE_TABLE(of, adis16203_of_match);
static struct spi_driver adis16203_driver = {
.driver = {
.name = "adis16203",
.of_match_table = adis16203_of_match,
},
.probe = adis16203_probe,
};
module_spi_driver(adis16203_driver);
MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
MODULE_LICENSE("GPL v2");
MODULE_ALIAS("spi:adis16203");
MODULE_IMPORT_NS(IIO_ADISLIB);
|
