2 * ADIS16203 Programmable 360 Degrees Inclinometer
4 * Copyright 2010 Analog Devices Inc.
6 * Licensed under the GPL-2 or later.
9 #include <linux/delay.h>
10 #include <linux/device.h>
12 #include <linux/iio/buffer.h>
13 #include <linux/iio/iio.h>
14 #include <linux/iio/imu/adis.h>
15 #include <linux/iio/sysfs.h>
17 #include <linux/kernel.h>
18 #include <linux/module.h>
19 #include <linux/mutex.h>
20 #include <linux/slab.h>
21 #include <linux/spi/spi.h>
22 #include <linux/sysfs.h>
24 #define ADIS16203_STARTUP_DELAY 220 /* ms */
26 /* Flash memory write count */
27 #define ADIS16203_FLASH_CNT 0x00
29 /* Output, power supply */
30 #define ADIS16203_SUPPLY_OUT 0x02
32 /* Output, auxiliary ADC input */
33 #define ADIS16203_AUX_ADC 0x08
35 /* Output, temperature */
36 #define ADIS16203_TEMP_OUT 0x0A
38 /* Output, x-axis inclination */
39 #define ADIS16203_XINCL_OUT 0x0C
41 /* Output, y-axis inclination */
42 #define ADIS16203_YINCL_OUT 0x0E
44 /* Incline null calibration */
45 #define ADIS16203_INCL_NULL 0x18
47 /* Alarm 1 amplitude threshold */
48 #define ADIS16203_ALM_MAG1 0x20
50 /* Alarm 2 amplitude threshold */
51 #define ADIS16203_ALM_MAG2 0x22
53 /* Alarm 1, sample period */
54 #define ADIS16203_ALM_SMPL1 0x24
56 /* Alarm 2, sample period */
57 #define ADIS16203_ALM_SMPL2 0x26
60 #define ADIS16203_ALM_CTRL 0x28
62 /* Auxiliary DAC data */
63 #define ADIS16203_AUX_DAC 0x30
65 /* General-purpose digital input/output control */
66 #define ADIS16203_GPIO_CTRL 0x32
68 /* Miscellaneous control */
69 #define ADIS16203_MSC_CTRL 0x34
71 /* Internal sample period (rate) control */
72 #define ADIS16203_SMPL_PRD 0x36
74 /* Operation, filter configuration */
75 #define ADIS16203_AVG_CNT 0x38
77 /* Operation, sleep mode control */
78 #define ADIS16203_SLP_CNT 0x3A
80 /* Diagnostics, system status register */
81 #define ADIS16203_DIAG_STAT 0x3C
83 /* Operation, system command register */
84 #define ADIS16203_GLOB_CMD 0x3E
88 /* Self-test at power-on: 1 = disabled, 0 = enabled */
89 #define ADIS16203_MSC_CTRL_PWRUP_SELF_TEST BIT(10)
91 /* Reverses rotation of both inclination outputs */
92 #define ADIS16203_MSC_CTRL_REVERSE_ROT_EN BIT(9)
94 /* Self-test enable */
95 #define ADIS16203_MSC_CTRL_SELF_TEST_EN BIT(8)
97 /* Data-ready enable: 1 = enabled, 0 = disabled */
98 #define ADIS16203_MSC_CTRL_DATA_RDY_EN BIT(2)
100 /* Data-ready polarity: 1 = active high, 0 = active low */
101 #define ADIS16203_MSC_CTRL_ACTIVE_HIGH BIT(1)
103 /* Data-ready line selection: 1 = DIO1, 0 = DIO0 */
104 #define ADIS16203_MSC_CTRL_DATA_RDY_DIO1 BIT(0)
108 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
109 #define ADIS16203_DIAG_STAT_ALARM2 BIT(9)
111 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
112 #define ADIS16203_DIAG_STAT_ALARM1 BIT(8)
114 /* Self-test diagnostic error flag */
115 #define ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT 5
117 /* SPI communications failure */
118 #define ADIS16203_DIAG_STAT_SPI_FAIL_BIT 3
120 /* Flash update failure */
121 #define ADIS16203_DIAG_STAT_FLASH_UPT_BIT 2
123 /* Power supply above 3.625 V */
124 #define ADIS16203_DIAG_STAT_POWER_HIGH_BIT 1
126 /* Power supply below 3.15 V */
127 #define ADIS16203_DIAG_STAT_POWER_LOW_BIT 0
131 #define ADIS16203_GLOB_CMD_SW_RESET BIT(7)
132 #define ADIS16203_GLOB_CMD_CLEAR_STAT BIT(4)
133 #define ADIS16203_GLOB_CMD_FACTORY_CAL BIT(1)
135 #define ADIS16203_ERROR_ACTIVE BIT(14)
137 enum adis16203_scan {
138 ADIS16203_SCAN_INCLI_X,
139 ADIS16203_SCAN_INCLI_Y,
140 ADIS16203_SCAN_SUPPLY,
141 ADIS16203_SCAN_AUX_ADC,
145 #define DRIVER_NAME "adis16203"
147 static const u8 adis16203_addresses[] = {
148 [ADIS16203_SCAN_INCLI_X] = ADIS16203_INCL_NULL,
151 static int adis16203_write_raw(struct iio_dev *indio_dev,
152 struct iio_chan_spec const *chan,
157 struct adis *st = iio_priv(indio_dev);
158 /* currently only one writable parameter which keeps this simple */
159 u8 addr = adis16203_addresses[chan->scan_index];
161 return adis_write_reg_16(st, addr, val & 0x3FFF);
164 static int adis16203_read_raw(struct iio_dev *indio_dev,
165 struct iio_chan_spec const *chan,
169 struct adis *st = iio_priv(indio_dev);
176 case IIO_CHAN_INFO_RAW:
177 return adis_single_conversion(indio_dev, chan,
178 ADIS16203_ERROR_ACTIVE, val);
179 case IIO_CHAN_INFO_SCALE:
180 switch (chan->type) {
182 if (chan->channel == 0) {
184 *val2 = 220000; /* 1.22 mV */
187 *val2 = 610000; /* 0.61 mV */
189 return IIO_VAL_INT_PLUS_MICRO;
191 *val = -470; /* -0.47 C */
193 return IIO_VAL_INT_PLUS_MICRO;
196 *val2 = 25000; /* 0.025 degree */
197 return IIO_VAL_INT_PLUS_MICRO;
201 case IIO_CHAN_INFO_OFFSET:
202 *val = 25000 / -470 - 1278; /* 25 C = 1278 */
204 case IIO_CHAN_INFO_CALIBBIAS:
206 addr = adis16203_addresses[chan->scan_index];
207 ret = adis_read_reg_16(st, addr, &val16);
210 val16 &= (1 << bits) - 1;
211 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits);
219 static const struct iio_chan_spec adis16203_channels[] = {
220 ADIS_SUPPLY_CHAN(ADIS16203_SUPPLY_OUT, ADIS16203_SCAN_SUPPLY, 0, 12),
221 ADIS_AUX_ADC_CHAN(ADIS16203_AUX_ADC, ADIS16203_SCAN_AUX_ADC, 0, 12),
222 ADIS_INCLI_CHAN(X, ADIS16203_XINCL_OUT, ADIS16203_SCAN_INCLI_X,
223 BIT(IIO_CHAN_INFO_CALIBBIAS), 0, 14),
224 /* Fixme: Not what it appears to be - see data sheet */
225 ADIS_INCLI_CHAN(Y, ADIS16203_YINCL_OUT, ADIS16203_SCAN_INCLI_Y,
227 ADIS_TEMP_CHAN(ADIS16203_TEMP_OUT, ADIS16203_SCAN_TEMP, 0, 12),
228 IIO_CHAN_SOFT_TIMESTAMP(5),
231 static const struct iio_info adis16203_info = {
232 .read_raw = adis16203_read_raw,
233 .write_raw = adis16203_write_raw,
234 .update_scan_mode = adis_update_scan_mode,
235 .driver_module = THIS_MODULE,
238 static const char * const adis16203_status_error_msgs[] = {
239 [ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT] = "Self test failure",
240 [ADIS16203_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
241 [ADIS16203_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
242 [ADIS16203_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
243 [ADIS16203_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 3.15V",
246 static const struct adis_data adis16203_data = {
248 .msc_ctrl_reg = ADIS16203_MSC_CTRL,
249 .glob_cmd_reg = ADIS16203_GLOB_CMD,
250 .diag_stat_reg = ADIS16203_DIAG_STAT,
252 .self_test_mask = ADIS16203_MSC_CTRL_SELF_TEST_EN,
253 .self_test_no_autoclear = true,
254 .startup_delay = ADIS16203_STARTUP_DELAY,
256 .status_error_msgs = adis16203_status_error_msgs,
257 .status_error_mask = BIT(ADIS16203_DIAG_STAT_SELFTEST_FAIL_BIT) |
258 BIT(ADIS16203_DIAG_STAT_SPI_FAIL_BIT) |
259 BIT(ADIS16203_DIAG_STAT_FLASH_UPT_BIT) |
260 BIT(ADIS16203_DIAG_STAT_POWER_HIGH_BIT) |
261 BIT(ADIS16203_DIAG_STAT_POWER_LOW_BIT),
264 static int adis16203_probe(struct spi_device *spi)
267 struct iio_dev *indio_dev;
270 /* setup the industrialio driver allocated elements */
271 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
274 st = iio_priv(indio_dev);
275 /* this is only used for removal purposes */
276 spi_set_drvdata(spi, indio_dev);
278 indio_dev->name = spi->dev.driver->name;
279 indio_dev->dev.parent = &spi->dev;
280 indio_dev->channels = adis16203_channels;
281 indio_dev->num_channels = ARRAY_SIZE(adis16203_channels);
282 indio_dev->info = &adis16203_info;
283 indio_dev->modes = INDIO_DIRECT_MODE;
285 ret = adis_init(st, indio_dev, spi, &adis16203_data);
289 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
293 /* Get the device into a sane initial state */
294 ret = adis_initial_startup(st);
296 goto error_cleanup_buffer_trigger;
298 ret = iio_device_register(indio_dev);
300 goto error_cleanup_buffer_trigger;
304 error_cleanup_buffer_trigger:
305 adis_cleanup_buffer_and_trigger(st, indio_dev);
309 static int adis16203_remove(struct spi_device *spi)
311 struct iio_dev *indio_dev = spi_get_drvdata(spi);
312 struct adis *st = iio_priv(indio_dev);
314 iio_device_unregister(indio_dev);
315 adis_cleanup_buffer_and_trigger(st, indio_dev);
320 static struct spi_driver adis16203_driver = {
324 .probe = adis16203_probe,
325 .remove = adis16203_remove,
327 module_spi_driver(adis16203_driver);
329 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
330 MODULE_DESCRIPTION("Analog Devices ADIS16203 Programmable 360 Degrees Inclinometer");
331 MODULE_LICENSE("GPL v2");
332 MODULE_ALIAS("spi:adis16203");