1 // SPDX-License-Identifier: GPL-2.0+
2 /*
3 * ADIS16240 Programmable Impact Sensor and Recorder driver
4 *
5 * Copyright 2010 Analog Devices Inc.
6 */
7
8 #include <linux/interrupt.h>
9 #include <linux/irq.h>
10 #include <linux/delay.h>
11 #include <linux/device.h>
12 #include <linux/kernel.h>
13 #include <linux/spi/spi.h>
14 #include <linux/slab.h>
15 #include <linux/sysfs.h>
16 #include <linux/list.h>
17 #include <linux/module.h>
18
19 #include <linux/iio/iio.h>
20 #include <linux/iio/sysfs.h>
21 #include <linux/iio/buffer.h>
22 #include <linux/iio/imu/adis.h>
23
24 #define ADIS16240_STARTUP_DELAY 220 /* ms */
25
26 /* Flash memory write count */
27 #define ADIS16240_FLASH_CNT 0x00
28
29 /* Output, power supply */
30 #define ADIS16240_SUPPLY_OUT 0x02
31
32 /* Output, x-axis accelerometer */
33 #define ADIS16240_XACCL_OUT 0x04
34
35 /* Output, y-axis accelerometer */
36 #define ADIS16240_YACCL_OUT 0x06
37
38 /* Output, z-axis accelerometer */
39 #define ADIS16240_ZACCL_OUT 0x08
40
41 /* Output, auxiliary ADC input */
42 #define ADIS16240_AUX_ADC 0x0A
43
44 /* Output, temperature */
45 #define ADIS16240_TEMP_OUT 0x0C
46
47 /* Output, x-axis acceleration peak */
48 #define ADIS16240_XPEAK_OUT 0x0E
49
50 /* Output, y-axis acceleration peak */
51 #define ADIS16240_YPEAK_OUT 0x10
52
53 /* Output, z-axis acceleration peak */
54 #define ADIS16240_ZPEAK_OUT 0x12
55
56 /* Output, sum-of-squares acceleration peak */
57 #define ADIS16240_XYZPEAK_OUT 0x14
58
59 /* Output, Capture Buffer 1, X and Y acceleration */
60 #define ADIS16240_CAPT_BUF1 0x16
61
62 /* Output, Capture Buffer 2, Z acceleration */
63 #define ADIS16240_CAPT_BUF2 0x18
64
65 /* Diagnostic, error flags */
66 #define ADIS16240_DIAG_STAT 0x1A
67
68 /* Diagnostic, event counter */
69 #define ADIS16240_EVNT_CNTR 0x1C
70
71 /* Diagnostic, check sum value from firmware test */
72 #define ADIS16240_CHK_SUM 0x1E
73
74 /* Calibration, x-axis acceleration offset adjustment */
75 #define ADIS16240_XACCL_OFF 0x20
76
77 /* Calibration, y-axis acceleration offset adjustment */
78 #define ADIS16240_YACCL_OFF 0x22
79
80 /* Calibration, z-axis acceleration offset adjustment */
81 #define ADIS16240_ZACCL_OFF 0x24
82
83 /* Clock, hour and minute */
84 #define ADIS16240_CLK_TIME 0x2E
85
86 /* Clock, month and day */
87 #define ADIS16240_CLK_DATE 0x30
88
89 /* Clock, year */
90 #define ADIS16240_CLK_YEAR 0x32
91
92 /* Wake-up setting, hour and minute */
93 #define ADIS16240_WAKE_TIME 0x34
94
95 /* Wake-up setting, month and day */
96 #define ADIS16240_WAKE_DATE 0x36
97
98 /* Alarm 1 amplitude threshold */
99 #define ADIS16240_ALM_MAG1 0x38
100
101 /* Alarm 2 amplitude threshold */
102 #define ADIS16240_ALM_MAG2 0x3A
103
104 /* Alarm control */
105 #define ADIS16240_ALM_CTRL 0x3C
106
107 /* Capture, external trigger control */
108 #define ADIS16240_XTRIG_CTRL 0x3E
109
110 /* Capture, address pointer */
111 #define ADIS16240_CAPT_PNTR 0x40
112
113 /* Capture, configuration and control */
114 #define ADIS16240_CAPT_CTRL 0x42
115
116 /* General-purpose digital input/output control */
117 #define ADIS16240_GPIO_CTRL 0x44
118
119 /* Miscellaneous control */
120 #define ADIS16240_MSC_CTRL 0x46
121
122 /* Internal sample period (rate) control */
123 #define ADIS16240_SMPL_PRD 0x48
124
125 /* System command */
126 #define ADIS16240_GLOB_CMD 0x4A
127
128 /* MSC_CTRL */
129
130 /* Enables sum-of-squares output (XYZPEAK_OUT) */
131 #define ADIS16240_MSC_CTRL_XYZPEAK_OUT_EN BIT(15)
132
133 /* Enables peak tracking output (XPEAK_OUT, YPEAK_OUT, and ZPEAK_OUT) */
134 #define ADIS16240_MSC_CTRL_X_Y_ZPEAK_OUT_EN BIT(14)
135
136 /* Self-test enable: 1 = apply electrostatic force, 0 = disabled */
137 #define ADIS16240_MSC_CTRL_SELF_TEST_EN BIT(8)
138
139 /* Data-ready enable: 1 = enabled, 0 = disabled */
140 #define ADIS16240_MSC_CTRL_DATA_RDY_EN BIT(2)
141
142 /* Data-ready polarity: 1 = active high, 0 = active low */
143 #define ADIS16240_MSC_CTRL_ACTIVE_HIGH BIT(1)
144
145 /* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
146 #define ADIS16240_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
147
148 /* DIAG_STAT */
149
150 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
151 #define ADIS16240_DIAG_STAT_ALARM2 BIT(9)
152
153 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
154 #define ADIS16240_DIAG_STAT_ALARM1 BIT(8)
155
156 /* Capture buffer full: 1 = capture buffer is full */
157 #define ADIS16240_DIAG_STAT_CPT_BUF_FUL BIT(7)
158
159 /* Flash test, checksum flag: 1 = mismatch, 0 = match */
160 #define ADIS16240_DIAG_STAT_CHKSUM BIT(6)
161
162 /* Power-on, self-test flag: 1 = failure, 0 = pass */
163 #define ADIS16240_DIAG_STAT_PWRON_FAIL_BIT 5
164
165 /* Power-on self-test: 1 = in-progress, 0 = complete */
166 #define ADIS16240_DIAG_STAT_PWRON_BUSY BIT(4)
167
168 /* SPI communications failure */
169 #define ADIS16240_DIAG_STAT_SPI_FAIL_BIT 3
170
171 /* Flash update failure */
172 #define ADIS16240_DIAG_STAT_FLASH_UPT_BIT 2
173
174 /* Power supply above 3.625 V */
175 #define ADIS16240_DIAG_STAT_POWER_HIGH_BIT 1
176
177 /* Power supply below 2.225 V */
178 #define ADIS16240_DIAG_STAT_POWER_LOW_BIT 0
179
180 /* GLOB_CMD */
181
182 #define ADIS16240_GLOB_CMD_RESUME BIT(8)
183 #define ADIS16240_GLOB_CMD_SW_RESET BIT(7)
184 #define ADIS16240_GLOB_CMD_STANDBY BIT(2)
185
186 #define ADIS16240_ERROR_ACTIVE BIT(14)
187
188 /* At the moment triggers are only used for ring buffer
189 * filling. This may change!
190 */
191
192 enum adis16240_scan {
193 ADIS16240_SCAN_ACC_X,
194 ADIS16240_SCAN_ACC_Y,
195 ADIS16240_SCAN_ACC_Z,
196 ADIS16240_SCAN_SUPPLY,
197 ADIS16240_SCAN_AUX_ADC,
198 ADIS16240_SCAN_TEMP,
199 };
200
adis16240_spi_read_signed(struct device * dev,struct device_attribute * attr,char * buf,unsigned int bits)201 static ssize_t adis16240_spi_read_signed(struct device *dev,
202 struct device_attribute *attr,
203 char *buf,
204 unsigned int bits)
205 {
206 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
207 struct adis *st = iio_priv(indio_dev);
208 int ret;
209 s16 val = 0;
210 unsigned int shift = 16 - bits;
211 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
212
213 ret = adis_read_reg_16(st,
214 this_attr->address, (u16 *)&val);
215 if (ret)
216 return ret;
217
218 if (val & ADIS16240_ERROR_ACTIVE)
219 adis_check_status(st);
220
221 val = (s16)(val << shift) >> shift;
222 return sprintf(buf, "%d\n", val);
223 }
224
adis16240_read_12bit_signed(struct device * dev,struct device_attribute * attr,char * buf)225 static ssize_t adis16240_read_12bit_signed(struct device *dev,
226 struct device_attribute *attr,
227 char *buf)
228 {
229 return adis16240_spi_read_signed(dev, attr, buf, 12);
230 }
231
232 static IIO_DEVICE_ATTR(in_accel_xyz_squared_peak_raw, 0444,
233 adis16240_read_12bit_signed, NULL,
234 ADIS16240_XYZPEAK_OUT);
235
236 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096");
237
238 static const u8 adis16240_addresses[][2] = {
239 [ADIS16240_SCAN_ACC_X] = { ADIS16240_XACCL_OFF, ADIS16240_XPEAK_OUT },
240 [ADIS16240_SCAN_ACC_Y] = { ADIS16240_YACCL_OFF, ADIS16240_YPEAK_OUT },
241 [ADIS16240_SCAN_ACC_Z] = { ADIS16240_ZACCL_OFF, ADIS16240_ZPEAK_OUT },
242 };
243
adis16240_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)244 static int adis16240_read_raw(struct iio_dev *indio_dev,
245 struct iio_chan_spec const *chan,
246 int *val, int *val2,
247 long mask)
248 {
249 struct adis *st = iio_priv(indio_dev);
250 int ret;
251 u8 addr;
252 s16 val16;
253
254 switch (mask) {
255 case IIO_CHAN_INFO_RAW:
256 return adis_single_conversion(indio_dev, chan,
257 ADIS16240_ERROR_ACTIVE, val);
258 case IIO_CHAN_INFO_SCALE:
259 switch (chan->type) {
260 case IIO_VOLTAGE:
261 if (chan->channel == 0) {
262 *val = 4;
263 *val2 = 880000; /* 4.88 mV */
264 return IIO_VAL_INT_PLUS_MICRO;
265 }
266 return -EINVAL;
267 case IIO_TEMP:
268 *val = 244; /* 0.244 C */
269 *val2 = 0;
270 return IIO_VAL_INT_PLUS_MICRO;
271 case IIO_ACCEL:
272 *val = 0;
273 *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */
274 return IIO_VAL_INT_PLUS_MICRO;
275 default:
276 return -EINVAL;
277 }
278 break;
279 case IIO_CHAN_INFO_PEAK_SCALE:
280 *val = 0;
281 *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */
282 return IIO_VAL_INT_PLUS_MICRO;
283 case IIO_CHAN_INFO_OFFSET:
284 *val = 25000 / 244 - 0x133; /* 25 C = 0x133 */
285 return IIO_VAL_INT;
286 case IIO_CHAN_INFO_CALIBBIAS:
287 addr = adis16240_addresses[chan->scan_index][0];
288 ret = adis_read_reg_16(st, addr, &val16);
289 if (ret)
290 return ret;
291 *val = sign_extend32(val16, 9);
292 return IIO_VAL_INT;
293 case IIO_CHAN_INFO_PEAK:
294 addr = adis16240_addresses[chan->scan_index][1];
295 ret = adis_read_reg_16(st, addr, &val16);
296 if (ret)
297 return ret;
298 *val = sign_extend32(val16, 9);
299 return IIO_VAL_INT;
300 }
301 return -EINVAL;
302 }
303
adis16240_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)304 static int adis16240_write_raw(struct iio_dev *indio_dev,
305 struct iio_chan_spec const *chan,
306 int val,
307 int val2,
308 long mask)
309 {
310 struct adis *st = iio_priv(indio_dev);
311 u8 addr;
312
313 switch (mask) {
314 case IIO_CHAN_INFO_CALIBBIAS:
315 addr = adis16240_addresses[chan->scan_index][0];
316 return adis_write_reg_16(st, addr, val & GENMASK(9, 0));
317 }
318 return -EINVAL;
319 }
320
321 static const struct iio_chan_spec adis16240_channels[] = {
322 ADIS_SUPPLY_CHAN(ADIS16240_SUPPLY_OUT, ADIS16240_SCAN_SUPPLY, 0, 10),
323 ADIS_AUX_ADC_CHAN(ADIS16240_AUX_ADC, ADIS16240_SCAN_AUX_ADC, 0, 10),
324 ADIS_ACCEL_CHAN(X, ADIS16240_XACCL_OUT, ADIS16240_SCAN_ACC_X,
325 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
326 0, 10),
327 ADIS_ACCEL_CHAN(Y, ADIS16240_YACCL_OUT, ADIS16240_SCAN_ACC_Y,
328 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
329 0, 10),
330 ADIS_ACCEL_CHAN(Z, ADIS16240_ZACCL_OUT, ADIS16240_SCAN_ACC_Z,
331 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
332 0, 10),
333 ADIS_TEMP_CHAN(ADIS16240_TEMP_OUT, ADIS16240_SCAN_TEMP, 0, 10),
334 IIO_CHAN_SOFT_TIMESTAMP(6)
335 };
336
337 static struct attribute *adis16240_attributes[] = {
338 &iio_dev_attr_in_accel_xyz_squared_peak_raw.dev_attr.attr,
339 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
340 NULL
341 };
342
343 static const struct attribute_group adis16240_attribute_group = {
344 .attrs = adis16240_attributes,
345 };
346
347 static const struct iio_info adis16240_info = {
348 .attrs = &adis16240_attribute_group,
349 .read_raw = adis16240_read_raw,
350 .write_raw = adis16240_write_raw,
351 .update_scan_mode = adis_update_scan_mode,
352 };
353
354 static const char * const adis16240_status_error_msgs[] = {
355 [ADIS16240_DIAG_STAT_PWRON_FAIL_BIT] = "Power on, self-test failed",
356 [ADIS16240_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
357 [ADIS16240_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
358 [ADIS16240_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
359 [ADIS16240_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.225V",
360 };
361
362 static const struct adis_timeout adis16240_timeouts = {
363 .reset_ms = ADIS16240_STARTUP_DELAY,
364 .sw_reset_ms = ADIS16240_STARTUP_DELAY,
365 .self_test_ms = ADIS16240_STARTUP_DELAY,
366 };
367
368 static const struct adis_data adis16240_data = {
369 .write_delay = 35,
370 .read_delay = 35,
371 .msc_ctrl_reg = ADIS16240_MSC_CTRL,
372 .glob_cmd_reg = ADIS16240_GLOB_CMD,
373 .diag_stat_reg = ADIS16240_DIAG_STAT,
374
375 .self_test_mask = ADIS16240_MSC_CTRL_SELF_TEST_EN,
376 .self_test_reg = ADIS16240_MSC_CTRL,
377 .self_test_no_autoclear = true,
378 .timeouts = &adis16240_timeouts,
379
380 .status_error_msgs = adis16240_status_error_msgs,
381 .status_error_mask = BIT(ADIS16240_DIAG_STAT_PWRON_FAIL_BIT) |
382 BIT(ADIS16240_DIAG_STAT_SPI_FAIL_BIT) |
383 BIT(ADIS16240_DIAG_STAT_FLASH_UPT_BIT) |
384 BIT(ADIS16240_DIAG_STAT_POWER_HIGH_BIT) |
385 BIT(ADIS16240_DIAG_STAT_POWER_LOW_BIT),
386 };
387
adis16240_probe(struct spi_device * spi)388 static int adis16240_probe(struct spi_device *spi)
389 {
390 int ret;
391 struct adis *st;
392 struct iio_dev *indio_dev;
393
394 /* setup the industrialio driver allocated elements */
395 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
396 if (!indio_dev)
397 return -ENOMEM;
398 st = iio_priv(indio_dev);
399 /* this is only used for removal purposes */
400 spi_set_drvdata(spi, indio_dev);
401
402 indio_dev->name = spi->dev.driver->name;
403 indio_dev->info = &adis16240_info;
404 indio_dev->channels = adis16240_channels;
405 indio_dev->num_channels = ARRAY_SIZE(adis16240_channels);
406 indio_dev->modes = INDIO_DIRECT_MODE;
407
408 spi->mode = SPI_MODE_3;
409 ret = spi_setup(spi);
410 if (ret) {
411 dev_err(&spi->dev, "spi_setup failed!\n");
412 return ret;
413 }
414
415 ret = adis_init(st, indio_dev, spi, &adis16240_data);
416 if (ret)
417 return ret;
418 ret = devm_adis_setup_buffer_and_trigger(st, indio_dev, NULL);
419 if (ret)
420 return ret;
421
422 /* Get the device into a sane initial state */
423 ret = adis_initial_startup(st);
424 if (ret)
425 return ret;
426
427 return devm_iio_device_register(&spi->dev, indio_dev);
428 }
429 static const struct of_device_id adis16240_of_match[] = {
430 { .compatible = "adi,adis16240" },
431 { },
432 };
433 MODULE_DEVICE_TABLE(of, adis16240_of_match);
434
435 static struct spi_driver adis16240_driver = {
436 .driver = {
437 .name = "adis16240",
438 .of_match_table = adis16240_of_match,
439 },
440 .probe = adis16240_probe,
441 };
442 module_spi_driver(adis16240_driver);
443
444 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
445 MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder");
446 MODULE_LICENSE("GPL v2");
447 MODULE_ALIAS("spi:adis16240");
448
