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Diffstat (limited to 'drivers/staging/iio/accel/adis16209.c')
-rw-r--r--drivers/staging/iio/accel/adis16209.c383
1 files changed, 383 insertions, 0 deletions
diff --git a/drivers/staging/iio/accel/adis16209.c b/drivers/staging/iio/accel/adis16209.c
new file mode 100644
index 0000000..8485c02
--- /dev/null
+++ b/drivers/staging/iio/accel/adis16209.c
@@ -0,0 +1,383 @@
+/*
+ * ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer
+ *
+ * Copyright 2010 Analog Devices Inc.
+ *
+ * Licensed under the GPL-2 or later.
+ */
+
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/kernel.h>
+#include <linux/spi/spi.h>
+#include <linux/slab.h>
+#include <linux/sysfs.h>
+#include <linux/list.h>
+#include <linux/module.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/imu/adis.h>
+
+#define ADIS16209_STARTUP_DELAY 220 /* ms */
+
+/* Flash memory write count */
+#define ADIS16209_FLASH_CNT 0x00
+
+/* Output, power supply */
+#define ADIS16209_SUPPLY_OUT 0x02
+
+/* Output, x-axis accelerometer */
+#define ADIS16209_XACCL_OUT 0x04
+
+/* Output, y-axis accelerometer */
+#define ADIS16209_YACCL_OUT 0x06
+
+/* Output, auxiliary ADC input */
+#define ADIS16209_AUX_ADC 0x08
+
+/* Output, temperature */
+#define ADIS16209_TEMP_OUT 0x0A
+
+/* Output, x-axis inclination */
+#define ADIS16209_XINCL_OUT 0x0C
+
+/* Output, y-axis inclination */
+#define ADIS16209_YINCL_OUT 0x0E
+
+/* Output, +/-180 vertical rotational position */
+#define ADIS16209_ROT_OUT 0x10
+
+/* Calibration, x-axis acceleration offset null */
+#define ADIS16209_XACCL_NULL 0x12
+
+/* Calibration, y-axis acceleration offset null */
+#define ADIS16209_YACCL_NULL 0x14
+
+/* Calibration, x-axis inclination offset null */
+#define ADIS16209_XINCL_NULL 0x16
+
+/* Calibration, y-axis inclination offset null */
+#define ADIS16209_YINCL_NULL 0x18
+
+/* Calibration, vertical rotation offset null */
+#define ADIS16209_ROT_NULL 0x1A
+
+/* Alarm 1 amplitude threshold */
+#define ADIS16209_ALM_MAG1 0x20
+
+/* Alarm 2 amplitude threshold */
+#define ADIS16209_ALM_MAG2 0x22
+
+/* Alarm 1, sample period */
+#define ADIS16209_ALM_SMPL1 0x24
+
+/* Alarm 2, sample period */
+#define ADIS16209_ALM_SMPL2 0x26
+
+/* Alarm control */
+#define ADIS16209_ALM_CTRL 0x28
+
+/* Auxiliary DAC data */
+#define ADIS16209_AUX_DAC 0x30
+
+/* General-purpose digital input/output control */
+#define ADIS16209_GPIO_CTRL 0x32
+
+/* Miscellaneous control */
+#define ADIS16209_MSC_CTRL 0x34
+
+/* Internal sample period (rate) control */
+#define ADIS16209_SMPL_PRD 0x36
+
+/* Operation, filter configuration */
+#define ADIS16209_AVG_CNT 0x38
+
+/* Operation, sleep mode control */
+#define ADIS16209_SLP_CNT 0x3A
+
+/* Diagnostics, system status register */
+#define ADIS16209_DIAG_STAT 0x3C
+
+/* Operation, system command register */
+#define ADIS16209_GLOB_CMD 0x3E
+
+/* MSC_CTRL */
+
+/* Self-test at power-on: 1 = disabled, 0 = enabled */
+#define ADIS16209_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
+
+/* Self-test enable */
+#define ADIS16209_MSC_CTRL_SELF_TEST_EN BIT(8)
+
+/* Data-ready enable: 1 = enabled, 0 = disabled */
+#define ADIS16209_MSC_CTRL_DATA_RDY_EN BIT(2)
+
+/* Data-ready polarity: 1 = active high, 0 = active low */
+#define ADIS16209_MSC_CTRL_ACTIVE_HIGH BIT(1)
+
+/* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
+#define ADIS16209_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
+
+/* DIAG_STAT */
+
+/* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
+#define ADIS16209_DIAG_STAT_ALARM2 BIT(9)
+
+/* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
+#define ADIS16209_DIAG_STAT_ALARM1 BIT(8)
+
+/* Self-test diagnostic error flag: 1 = error condition, 0 = normal operation */
+#define ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT 5
+
+/* SPI communications failure */
+#define ADIS16209_DIAG_STAT_SPI_FAIL_BIT 3
+
+/* Flash update failure */
+#define ADIS16209_DIAG_STAT_FLASH_UPT_BIT 2
+
+/* Power supply above 3.625 V */
+#define ADIS16209_DIAG_STAT_POWER_HIGH_BIT 1
+
+/* Power supply below 3.15 V */
+#define ADIS16209_DIAG_STAT_POWER_LOW_BIT 0
+
+/* GLOB_CMD */
+
+#define ADIS16209_GLOB_CMD_SW_RESET BIT(7)
+#define ADIS16209_GLOB_CMD_CLEAR_STAT BIT(4)
+#define ADIS16209_GLOB_CMD_FACTORY_CAL BIT(1)
+
+#define ADIS16209_ERROR_ACTIVE BIT(14)
+
+enum adis16209_scan {
+ ADIS16209_SCAN_SUPPLY,
+ ADIS16209_SCAN_ACC_X,
+ ADIS16209_SCAN_ACC_Y,
+ ADIS16209_SCAN_AUX_ADC,
+ ADIS16209_SCAN_TEMP,
+ ADIS16209_SCAN_INCLI_X,
+ ADIS16209_SCAN_INCLI_Y,
+ ADIS16209_SCAN_ROT,
+};
+
+static const u8 adis16209_addresses[8][1] = {
+ [ADIS16209_SCAN_SUPPLY] = { },
+ [ADIS16209_SCAN_AUX_ADC] = { },
+ [ADIS16209_SCAN_ACC_X] = { ADIS16209_XACCL_NULL },
+ [ADIS16209_SCAN_ACC_Y] = { ADIS16209_YACCL_NULL },
+ [ADIS16209_SCAN_INCLI_X] = { ADIS16209_XINCL_NULL },
+ [ADIS16209_SCAN_INCLI_Y] = { ADIS16209_YINCL_NULL },
+ [ADIS16209_SCAN_ROT] = { },
+ [ADIS16209_SCAN_TEMP] = { },
+};
+
+static int adis16209_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 bits;
+ s16 val16;
+ u8 addr;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_CALIBBIAS:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ case IIO_INCLI:
+ bits = 14;
+ break;
+ default:
+ return -EINVAL;
+ }
+ val16 = val & ((1 << bits) - 1);
+ addr = adis16209_addresses[chan->scan_index][0];
+ return adis_write_reg_16(st, addr, val16);
+ }
+ return -EINVAL;
+}
+
+static int adis16209_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,
+ ADIS16209_ERROR_ACTIVE, val);
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->type) {
+ case IIO_VOLTAGE:
+ *val = 0;
+ if (chan->channel == 0)
+ *val2 = 305180; /* 0.30518 mV */
+ else
+ *val2 = 610500; /* 0.6105 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_ACCEL:
+ *val = 0;
+ *val2 = IIO_G_TO_M_S_2(244140); /* 0.244140 mg */
+ return IIO_VAL_INT_PLUS_NANO;
+ case IIO_INCLI:
+ case IIO_ROT:
+ *val = 0;
+ *val2 = 25000; /* 0.025 degree */
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+ break;
+ case IIO_CHAN_INFO_OFFSET:
+ *val = 25000 / -470 - 0x4FE; /* 25 C = 0x4FE */
+ return IIO_VAL_INT;
+ case IIO_CHAN_INFO_CALIBBIAS:
+ switch (chan->type) {
+ case IIO_ACCEL:
+ bits = 14;
+ break;
+ default:
+ return -EINVAL;
+ }
+ addr = adis16209_addresses[chan->scan_index][0];
+ ret = adis_read_reg_16(st, addr, &val16);
+ if (ret)
+ return ret;
+ val16 &= (1 << bits) - 1;
+ val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
+ *val = val16;
+ return IIO_VAL_INT;
+ }
+ return -EINVAL;
+}
+
+static const struct iio_chan_spec adis16209_channels[] = {
+ ADIS_SUPPLY_CHAN(ADIS16209_SUPPLY_OUT, ADIS16209_SCAN_SUPPLY, 0, 14),
+ ADIS_TEMP_CHAN(ADIS16209_TEMP_OUT, ADIS16209_SCAN_TEMP, 0, 12),
+ ADIS_ACCEL_CHAN(X, ADIS16209_XACCL_OUT, ADIS16209_SCAN_ACC_X,
+ BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
+ ADIS_ACCEL_CHAN(Y, ADIS16209_YACCL_OUT, ADIS16209_SCAN_ACC_Y,
+ BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
+ ADIS_AUX_ADC_CHAN(ADIS16209_AUX_ADC, ADIS16209_SCAN_AUX_ADC, 0, 12),
+ ADIS_INCLI_CHAN(X, ADIS16209_XINCL_OUT, ADIS16209_SCAN_INCLI_X,
+ 0, 0, 14),
+ ADIS_INCLI_CHAN(Y, ADIS16209_YINCL_OUT, ADIS16209_SCAN_INCLI_Y,
+ 0, 0, 14),
+ ADIS_ROT_CHAN(X, ADIS16209_ROT_OUT, ADIS16209_SCAN_ROT, 0, 0, 14),
+ IIO_CHAN_SOFT_TIMESTAMP(8)
+};
+
+static const struct iio_info adis16209_info = {
+ .read_raw = adis16209_read_raw,
+ .write_raw = adis16209_write_raw,
+ .update_scan_mode = adis_update_scan_mode,
+ .driver_module = THIS_MODULE,
+};
+
+static const char * const adis16209_status_error_msgs[] = {
+ [ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
+ [ADIS16209_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
+ [ADIS16209_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
+ [ADIS16209_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
+ [ADIS16209_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
+};
+
+static const struct adis_data adis16209_data = {
+ .read_delay = 30,
+ .msc_ctrl_reg = ADIS16209_MSC_CTRL,
+ .glob_cmd_reg = ADIS16209_GLOB_CMD,
+ .diag_stat_reg = ADIS16209_DIAG_STAT,
+
+ .self_test_mask = ADIS16209_MSC_CTRL_SELF_TEST_EN,
+ .self_test_no_autoclear = true,
+ .startup_delay = ADIS16209_STARTUP_DELAY,
+
+ .status_error_msgs = adis16209_status_error_msgs,
+ .status_error_mask = BIT(ADIS16209_DIAG_STAT_SELFTEST_FAIL_BIT) |
+ BIT(ADIS16209_DIAG_STAT_SPI_FAIL_BIT) |
+ BIT(ADIS16209_DIAG_STAT_FLASH_UPT_BIT) |
+ BIT(ADIS16209_DIAG_STAT_POWER_HIGH_BIT) |
+ BIT(ADIS16209_DIAG_STAT_POWER_LOW_BIT),
+};
+
+static int adis16209_probe(struct spi_device *spi)
+{
+ int ret;
+ struct adis *st;
+ struct iio_dev *indio_dev;
+
+ /* 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->dev.parent = &spi->dev;
+ indio_dev->info = &adis16209_info;
+ indio_dev->channels = adis16209_channels;
+ indio_dev->num_channels = ARRAY_SIZE(adis16209_channels);
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = adis_init(st, indio_dev, spi, &adis16209_data);
+ if (ret)
+ return ret;
+ ret = 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)
+ goto error_cleanup_buffer_trigger;
+ ret = iio_device_register(indio_dev);
+ if (ret)
+ goto error_cleanup_buffer_trigger;
+
+ return 0;
+
+error_cleanup_buffer_trigger:
+ adis_cleanup_buffer_and_trigger(st, indio_dev);
+ return ret;
+}
+
+static int adis16209_remove(struct spi_device *spi)
+{
+ struct iio_dev *indio_dev = spi_get_drvdata(spi);
+ struct adis *st = iio_priv(indio_dev);
+
+ iio_device_unregister(indio_dev);
+ adis_cleanup_buffer_and_trigger(st, indio_dev);
+
+ return 0;
+}
+
+static struct spi_driver adis16209_driver = {
+ .driver = {
+ .name = "adis16209",
+ },
+ .probe = adis16209_probe,
+ .remove = adis16209_remove,
+};
+module_spi_driver(adis16209_driver);
+
+MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
+MODULE_DESCRIPTION("Analog Devices ADIS16209 Dual-Axis Digital Inclinometer and Accelerometer");
+MODULE_LICENSE("GPL v2");
+MODULE_ALIAS("spi:adis16209");
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