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