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/gpio.h>
11 #include <linux/delay.h>
12 #include <linux/device.h>
13 #include <linux/kernel.h>
14 #include <linux/spi/spi.h>
15 #include <linux/slab.h>
16 #include <linux/sysfs.h>
17 #include <linux/list.h>
18 #include <linux/module.h>
19
20 #include <linux/iio/iio.h>
21 #include <linux/iio/sysfs.h>
22 #include <linux/iio/buffer.h>
23 #include <linux/iio/imu/adis.h>
24
25 #define ADIS16240_STARTUP_DELAY 220 /* ms */
26
27 /* Flash memory write count */
28 #define ADIS16240_FLASH_CNT 0x00
29
30 /* Output, power supply */
31 #define ADIS16240_SUPPLY_OUT 0x02
32
33 /* Output, x-axis accelerometer */
34 #define ADIS16240_XACCL_OUT 0x04
35
36 /* Output, y-axis accelerometer */
37 #define ADIS16240_YACCL_OUT 0x06
38
39 /* Output, z-axis accelerometer */
40 #define ADIS16240_ZACCL_OUT 0x08
41
42 /* Output, auxiliary ADC input */
43 #define ADIS16240_AUX_ADC 0x0A
44
45 /* Output, temperature */
46 #define ADIS16240_TEMP_OUT 0x0C
47
48 /* Output, x-axis acceleration peak */
49 #define ADIS16240_XPEAK_OUT 0x0E
50
51 /* Output, y-axis acceleration peak */
52 #define ADIS16240_YPEAK_OUT 0x10
53
54 /* Output, z-axis acceleration peak */
55 #define ADIS16240_ZPEAK_OUT 0x12
56
57 /* Output, sum-of-squares acceleration peak */
58 #define ADIS16240_XYZPEAK_OUT 0x14
59
60 /* Output, Capture Buffer 1, X and Y acceleration */
61 #define ADIS16240_CAPT_BUF1 0x16
62
63 /* Output, Capture Buffer 2, Z acceleration */
64 #define ADIS16240_CAPT_BUF2 0x18
65
66 /* Diagnostic, error flags */
67 #define ADIS16240_DIAG_STAT 0x1A
68
69 /* Diagnostic, event counter */
70 #define ADIS16240_EVNT_CNTR 0x1C
71
72 /* Diagnostic, check sum value from firmware test */
73 #define ADIS16240_CHK_SUM 0x1E
74
75 /* Calibration, x-axis acceleration offset adjustment */
76 #define ADIS16240_XACCL_OFF 0x20
77
78 /* Calibration, y-axis acceleration offset adjustment */
79 #define ADIS16240_YACCL_OFF 0x22
80
81 /* Calibration, z-axis acceleration offset adjustment */
82 #define ADIS16240_ZACCL_OFF 0x24
83
84 /* Clock, hour and minute */
85 #define ADIS16240_CLK_TIME 0x2E
86
87 /* Clock, month and day */
88 #define ADIS16240_CLK_DATE 0x30
89
90 /* Clock, year */
91 #define ADIS16240_CLK_YEAR 0x32
92
93 /* Wake-up setting, hour and minute */
94 #define ADIS16240_WAKE_TIME 0x34
95
96 /* Wake-up setting, month and day */
97 #define ADIS16240_WAKE_DATE 0x36
98
99 /* Alarm 1 amplitude threshold */
100 #define ADIS16240_ALM_MAG1 0x38
101
102 /* Alarm 2 amplitude threshold */
103 #define ADIS16240_ALM_MAG2 0x3A
104
105 /* Alarm control */
106 #define ADIS16240_ALM_CTRL 0x3C
107
108 /* Capture, external trigger control */
109 #define ADIS16240_XTRIG_CTRL 0x3E
110
111 /* Capture, address pointer */
112 #define ADIS16240_CAPT_PNTR 0x40
113
114 /* Capture, configuration and control */
115 #define ADIS16240_CAPT_CTRL 0x42
116
117 /* General-purpose digital input/output control */
118 #define ADIS16240_GPIO_CTRL 0x44
119
120 /* Miscellaneous control */
121 #define ADIS16240_MSC_CTRL 0x46
122
123 /* Internal sample period (rate) control */
124 #define ADIS16240_SMPL_PRD 0x48
125
126 /* System command */
127 #define ADIS16240_GLOB_CMD 0x4A
128
129 /* MSC_CTRL */
130
131 /* Enables sum-of-squares output (XYZPEAK_OUT) */
132 #define ADIS16240_MSC_CTRL_XYZPEAK_OUT_EN BIT(15)
133
134 /* Enables peak tracking output (XPEAK_OUT, YPEAK_OUT, and ZPEAK_OUT) */
135 #define ADIS16240_MSC_CTRL_X_Y_ZPEAK_OUT_EN BIT(14)
136
137 /* Self-test enable: 1 = apply electrostatic force, 0 = disabled */
138 #define ADIS16240_MSC_CTRL_SELF_TEST_EN BIT(8)
139
140 /* Data-ready enable: 1 = enabled, 0 = disabled */
141 #define ADIS16240_MSC_CTRL_DATA_RDY_EN BIT(2)
142
143 /* Data-ready polarity: 1 = active high, 0 = active low */
144 #define ADIS16240_MSC_CTRL_ACTIVE_HIGH BIT(1)
145
146 /* Data-ready line selection: 1 = DIO2, 0 = DIO1 */
147 #define ADIS16240_MSC_CTRL_DATA_RDY_DIO2 BIT(0)
148
149 /* DIAG_STAT */
150
151 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */
152 #define ADIS16240_DIAG_STAT_ALARM2 BIT(9)
153
154 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */
155 #define ADIS16240_DIAG_STAT_ALARM1 BIT(8)
156
157 /* Capture buffer full: 1 = capture buffer is full */
158 #define ADIS16240_DIAG_STAT_CPT_BUF_FUL BIT(7)
159
160 /* Flash test, checksum flag: 1 = mismatch, 0 = match */
161 #define ADIS16240_DIAG_STAT_CHKSUM BIT(6)
162
163 /* Power-on, self-test flag: 1 = failure, 0 = pass */
164 #define ADIS16240_DIAG_STAT_PWRON_FAIL_BIT 5
165
166 /* Power-on self-test: 1 = in-progress, 0 = complete */
167 #define ADIS16240_DIAG_STAT_PWRON_BUSY BIT(4)
168
169 /* SPI communications failure */
170 #define ADIS16240_DIAG_STAT_SPI_FAIL_BIT 3
171
172 /* Flash update failure */
173 #define ADIS16240_DIAG_STAT_FLASH_UPT_BIT 2
174
175 /* Power supply above 3.625 V */
176 #define ADIS16240_DIAG_STAT_POWER_HIGH_BIT 1
177
178 /* Power supply below 2.225 V */
179 #define ADIS16240_DIAG_STAT_POWER_LOW_BIT 0
180
181 /* GLOB_CMD */
182
183 #define ADIS16240_GLOB_CMD_RESUME BIT(8)
184 #define ADIS16240_GLOB_CMD_SW_RESET BIT(7)
185 #define ADIS16240_GLOB_CMD_STANDBY BIT(2)
186
187 #define ADIS16240_ERROR_ACTIVE BIT(14)
188
189 /* At the moment triggers are only used for ring buffer
190 * filling. This may change!
191 */
192
193 enum adis16240_scan {
194 ADIS16240_SCAN_ACC_X,
195 ADIS16240_SCAN_ACC_Y,
196 ADIS16240_SCAN_ACC_Z,
197 ADIS16240_SCAN_SUPPLY,
198 ADIS16240_SCAN_AUX_ADC,
199 ADIS16240_SCAN_TEMP,
200 };
201
adis16240_spi_read_signed(struct device * dev,struct device_attribute * attr,char * buf,unsigned int bits)202 static ssize_t adis16240_spi_read_signed(struct device *dev,
203 struct device_attribute *attr,
204 char *buf,
205 unsigned int bits)
206 {
207 struct iio_dev *indio_dev = dev_to_iio_dev(dev);
208 struct adis *st = iio_priv(indio_dev);
209 int ret;
210 s16 val = 0;
211 unsigned int shift = 16 - bits;
212 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr);
213
214 ret = adis_read_reg_16(st,
215 this_attr->address, (u16 *)&val);
216 if (ret)
217 return ret;
218
219 if (val & ADIS16240_ERROR_ACTIVE)
220 adis_check_status(st);
221
222 val = (s16)(val << shift) >> shift;
223 return sprintf(buf, "%d\n", val);
224 }
225
adis16240_read_12bit_signed(struct device * dev,struct device_attribute * attr,char * buf)226 static ssize_t adis16240_read_12bit_signed(struct device *dev,
227 struct device_attribute *attr,
228 char *buf)
229 {
230 return adis16240_spi_read_signed(dev, attr, buf, 12);
231 }
232
233 static IIO_DEVICE_ATTR(in_accel_xyz_squared_peak_raw, 0444,
234 adis16240_read_12bit_signed, NULL,
235 ADIS16240_XYZPEAK_OUT);
236
237 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096");
238
239 static const u8 adis16240_addresses[][2] = {
240 [ADIS16240_SCAN_ACC_X] = { ADIS16240_XACCL_OFF, ADIS16240_XPEAK_OUT },
241 [ADIS16240_SCAN_ACC_Y] = { ADIS16240_YACCL_OFF, ADIS16240_YPEAK_OUT },
242 [ADIS16240_SCAN_ACC_Z] = { ADIS16240_ZACCL_OFF, ADIS16240_ZPEAK_OUT },
243 };
244
adis16240_read_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int * val,int * val2,long mask)245 static int adis16240_read_raw(struct iio_dev *indio_dev,
246 struct iio_chan_spec const *chan,
247 int *val, int *val2,
248 long mask)
249 {
250 struct adis *st = iio_priv(indio_dev);
251 int ret;
252 u8 addr;
253 s16 val16;
254
255 switch (mask) {
256 case IIO_CHAN_INFO_RAW:
257 return adis_single_conversion(indio_dev, chan,
258 ADIS16240_ERROR_ACTIVE, val);
259 case IIO_CHAN_INFO_SCALE:
260 switch (chan->type) {
261 case IIO_VOLTAGE:
262 if (chan->channel == 0) {
263 *val = 4;
264 *val2 = 880000; /* 4.88 mV */
265 return IIO_VAL_INT_PLUS_MICRO;
266 }
267 return -EINVAL;
268 case IIO_TEMP:
269 *val = 244; /* 0.244 C */
270 *val2 = 0;
271 return IIO_VAL_INT_PLUS_MICRO;
272 case IIO_ACCEL:
273 *val = 0;
274 *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */
275 return IIO_VAL_INT_PLUS_MICRO;
276 default:
277 return -EINVAL;
278 }
279 break;
280 case IIO_CHAN_INFO_PEAK_SCALE:
281 *val = 0;
282 *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */
283 return IIO_VAL_INT_PLUS_MICRO;
284 case IIO_CHAN_INFO_OFFSET:
285 *val = 25000 / 244 - 0x133; /* 25 C = 0x133 */
286 return IIO_VAL_INT;
287 case IIO_CHAN_INFO_CALIBBIAS:
288 addr = adis16240_addresses[chan->scan_index][0];
289 ret = adis_read_reg_16(st, addr, &val16);
290 if (ret)
291 return ret;
292 *val = sign_extend32(val16, 9);
293 return IIO_VAL_INT;
294 case IIO_CHAN_INFO_PEAK:
295 addr = adis16240_addresses[chan->scan_index][1];
296 ret = adis_read_reg_16(st, addr, &val16);
297 if (ret)
298 return ret;
299 *val = sign_extend32(val16, 9);
300 return IIO_VAL_INT;
301 }
302 return -EINVAL;
303 }
304
adis16240_write_raw(struct iio_dev * indio_dev,struct iio_chan_spec const * chan,int val,int val2,long mask)305 static int adis16240_write_raw(struct iio_dev *indio_dev,
306 struct iio_chan_spec const *chan,
307 int val,
308 int val2,
309 long mask)
310 {
311 struct adis *st = iio_priv(indio_dev);
312 u8 addr;
313
314 switch (mask) {
315 case IIO_CHAN_INFO_CALIBBIAS:
316 addr = adis16240_addresses[chan->scan_index][0];
317 return adis_write_reg_16(st, addr, val & GENMASK(9, 0));
318 }
319 return -EINVAL;
320 }
321
322 static const struct iio_chan_spec adis16240_channels[] = {
323 ADIS_SUPPLY_CHAN(ADIS16240_SUPPLY_OUT, ADIS16240_SCAN_SUPPLY, 0, 10),
324 ADIS_AUX_ADC_CHAN(ADIS16240_AUX_ADC, ADIS16240_SCAN_AUX_ADC, 0, 10),
325 ADIS_ACCEL_CHAN(X, ADIS16240_XACCL_OUT, ADIS16240_SCAN_ACC_X,
326 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
327 0, 10),
328 ADIS_ACCEL_CHAN(Y, ADIS16240_YACCL_OUT, ADIS16240_SCAN_ACC_Y,
329 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
330 0, 10),
331 ADIS_ACCEL_CHAN(Z, ADIS16240_ZACCL_OUT, ADIS16240_SCAN_ACC_Z,
332 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK),
333 0, 10),
334 ADIS_TEMP_CHAN(ADIS16240_TEMP_OUT, ADIS16240_SCAN_TEMP, 0, 10),
335 IIO_CHAN_SOFT_TIMESTAMP(6)
336 };
337
338 static struct attribute *adis16240_attributes[] = {
339 &iio_dev_attr_in_accel_xyz_squared_peak_raw.dev_attr.attr,
340 &iio_const_attr_sampling_frequency_available.dev_attr.attr,
341 NULL
342 };
343
344 static const struct attribute_group adis16240_attribute_group = {
345 .attrs = adis16240_attributes,
346 };
347
348 static const struct iio_info adis16240_info = {
349 .attrs = &adis16240_attribute_group,
350 .read_raw = adis16240_read_raw,
351 .write_raw = adis16240_write_raw,
352 .update_scan_mode = adis_update_scan_mode,
353 };
354
355 static const char * const adis16240_status_error_msgs[] = {
356 [ADIS16240_DIAG_STAT_PWRON_FAIL_BIT] = "Power on, self-test failed",
357 [ADIS16240_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure",
358 [ADIS16240_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed",
359 [ADIS16240_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V",
360 [ADIS16240_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.225V",
361 };
362
363 static const struct adis_data adis16240_data = {
364 .write_delay = 35,
365 .read_delay = 35,
366 .msc_ctrl_reg = ADIS16240_MSC_CTRL,
367 .glob_cmd_reg = ADIS16240_GLOB_CMD,
368 .diag_stat_reg = ADIS16240_DIAG_STAT,
369
370 .self_test_mask = ADIS16240_MSC_CTRL_SELF_TEST_EN,
371 .self_test_no_autoclear = true,
372 .startup_delay = ADIS16240_STARTUP_DELAY,
373
374 .status_error_msgs = adis16240_status_error_msgs,
375 .status_error_mask = BIT(ADIS16240_DIAG_STAT_PWRON_FAIL_BIT) |
376 BIT(ADIS16240_DIAG_STAT_SPI_FAIL_BIT) |
377 BIT(ADIS16240_DIAG_STAT_FLASH_UPT_BIT) |
378 BIT(ADIS16240_DIAG_STAT_POWER_HIGH_BIT) |
379 BIT(ADIS16240_DIAG_STAT_POWER_LOW_BIT),
380 };
381
adis16240_probe(struct spi_device * spi)382 static int adis16240_probe(struct spi_device *spi)
383 {
384 int ret;
385 struct adis *st;
386 struct iio_dev *indio_dev;
387
388 /* setup the industrialio driver allocated elements */
389 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st));
390 if (!indio_dev)
391 return -ENOMEM;
392 st = iio_priv(indio_dev);
393 /* this is only used for removal purposes */
394 spi_set_drvdata(spi, indio_dev);
395
396 indio_dev->name = spi->dev.driver->name;
397 indio_dev->dev.parent = &spi->dev;
398 indio_dev->info = &adis16240_info;
399 indio_dev->channels = adis16240_channels;
400 indio_dev->num_channels = ARRAY_SIZE(adis16240_channels);
401 indio_dev->modes = INDIO_DIRECT_MODE;
402
403 ret = adis_init(st, indio_dev, spi, &adis16240_data);
404 if (ret)
405 return ret;
406 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL);
407 if (ret)
408 return ret;
409
410 /* Get the device into a sane initial state */
411 ret = adis_initial_startup(st);
412 if (ret)
413 goto error_cleanup_buffer_trigger;
414 ret = iio_device_register(indio_dev);
415 if (ret)
416 goto error_cleanup_buffer_trigger;
417 return 0;
418
419 error_cleanup_buffer_trigger:
420 adis_cleanup_buffer_and_trigger(st, indio_dev);
421 return ret;
422 }
423
adis16240_remove(struct spi_device * spi)424 static int adis16240_remove(struct spi_device *spi)
425 {
426 struct iio_dev *indio_dev = spi_get_drvdata(spi);
427 struct adis *st = iio_priv(indio_dev);
428
429 iio_device_unregister(indio_dev);
430 adis_cleanup_buffer_and_trigger(st, indio_dev);
431
432 return 0;
433 }
434
435 static const struct of_device_id adis16240_of_match[] = {
436 { .compatible = "adi,adis16240" },
437 { },
438 };
439 MODULE_DEVICE_TABLE(of, adis16240_of_match);
440
441 static struct spi_driver adis16240_driver = {
442 .driver = {
443 .name = "adis16240",
444 .of_match_table = adis16240_of_match,
445 },
446 .probe = adis16240_probe,
447 .remove = adis16240_remove,
448 };
449 module_spi_driver(adis16240_driver);
450
451 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>");
452 MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder");
453 MODULE_LICENSE("GPL v2");
454 MODULE_ALIAS("spi:adis16240");
455
