1 /* 2 * ADIS16240 Programmable Impact Sensor and Recorder driver 3 * 4 * Copyright 2010 Analog Devices Inc. 5 * 6 * Licensed under the GPL-2 or later. 7 */ 8 9 #include <linux/interrupt.h> 10 #include <linux/irq.h> 11 #include <linux/gpio.h> 12 #include <linux/delay.h> 13 #include <linux/device.h> 14 #include <linux/kernel.h> 15 #include <linux/spi/spi.h> 16 #include <linux/slab.h> 17 #include <linux/sysfs.h> 18 #include <linux/list.h> 19 #include <linux/module.h> 20 21 #include <linux/iio/iio.h> 22 #include <linux/iio/sysfs.h> 23 #include <linux/iio/buffer.h> 24 #include <linux/iio/imu/adis.h> 25 26 #define ADIS16240_STARTUP_DELAY 220 /* ms */ 27 28 /* Flash memory write count */ 29 #define ADIS16240_FLASH_CNT 0x00 30 31 /* Output, power supply */ 32 #define ADIS16240_SUPPLY_OUT 0x02 33 34 /* Output, x-axis accelerometer */ 35 #define ADIS16240_XACCL_OUT 0x04 36 37 /* Output, y-axis accelerometer */ 38 #define ADIS16240_YACCL_OUT 0x06 39 40 /* Output, z-axis accelerometer */ 41 #define ADIS16240_ZACCL_OUT 0x08 42 43 /* Output, auxiliary ADC input */ 44 #define ADIS16240_AUX_ADC 0x0A 45 46 /* Output, temperature */ 47 #define ADIS16240_TEMP_OUT 0x0C 48 49 /* Output, x-axis acceleration peak */ 50 #define ADIS16240_XPEAK_OUT 0x0E 51 52 /* Output, y-axis acceleration peak */ 53 #define ADIS16240_YPEAK_OUT 0x10 54 55 /* Output, z-axis acceleration peak */ 56 #define ADIS16240_ZPEAK_OUT 0x12 57 58 /* Output, sum-of-squares acceleration peak */ 59 #define ADIS16240_XYZPEAK_OUT 0x14 60 61 /* Output, Capture Buffer 1, X and Y acceleration */ 62 #define ADIS16240_CAPT_BUF1 0x16 63 64 /* Output, Capture Buffer 2, Z acceleration */ 65 #define ADIS16240_CAPT_BUF2 0x18 66 67 /* Diagnostic, error flags */ 68 #define ADIS16240_DIAG_STAT 0x1A 69 70 /* Diagnostic, event counter */ 71 #define ADIS16240_EVNT_CNTR 0x1C 72 73 /* Diagnostic, check sum value from firmware test */ 74 #define ADIS16240_CHK_SUM 0x1E 75 76 /* Calibration, x-axis acceleration offset adjustment */ 77 #define ADIS16240_XACCL_OFF 0x20 78 79 /* Calibration, y-axis acceleration offset adjustment */ 80 #define ADIS16240_YACCL_OFF 0x22 81 82 /* Calibration, z-axis acceleration offset adjustment */ 83 #define ADIS16240_ZACCL_OFF 0x24 84 85 /* Clock, hour and minute */ 86 #define ADIS16240_CLK_TIME 0x2E 87 88 /* Clock, month and day */ 89 #define ADIS16240_CLK_DATE 0x30 90 91 /* Clock, year */ 92 #define ADIS16240_CLK_YEAR 0x32 93 94 /* Wake-up setting, hour and minute */ 95 #define ADIS16240_WAKE_TIME 0x34 96 97 /* Wake-up setting, month and day */ 98 #define ADIS16240_WAKE_DATE 0x36 99 100 /* Alarm 1 amplitude threshold */ 101 #define ADIS16240_ALM_MAG1 0x38 102 103 /* Alarm 2 amplitude threshold */ 104 #define ADIS16240_ALM_MAG2 0x3A 105 106 /* Alarm control */ 107 #define ADIS16240_ALM_CTRL 0x3C 108 109 /* Capture, external trigger control */ 110 #define ADIS16240_XTRIG_CTRL 0x3E 111 112 /* Capture, address pointer */ 113 #define ADIS16240_CAPT_PNTR 0x40 114 115 /* Capture, configuration and control */ 116 #define ADIS16240_CAPT_CTRL 0x42 117 118 /* General-purpose digital input/output control */ 119 #define ADIS16240_GPIO_CTRL 0x44 120 121 /* Miscellaneous control */ 122 #define ADIS16240_MSC_CTRL 0x46 123 124 /* Internal sample period (rate) control */ 125 #define ADIS16240_SMPL_PRD 0x48 126 127 /* System command */ 128 #define ADIS16240_GLOB_CMD 0x4A 129 130 /* MSC_CTRL */ 131 132 /* Enables sum-of-squares output (XYZPEAK_OUT) */ 133 #define ADIS16240_MSC_CTRL_XYZPEAK_OUT_EN BIT(15) 134 135 /* Enables peak tracking output (XPEAK_OUT, YPEAK_OUT, and ZPEAK_OUT) */ 136 #define ADIS16240_MSC_CTRL_X_Y_ZPEAK_OUT_EN BIT(14) 137 138 /* Self-test enable: 1 = apply electrostatic force, 0 = disabled */ 139 #define ADIS16240_MSC_CTRL_SELF_TEST_EN BIT(8) 140 141 /* Data-ready enable: 1 = enabled, 0 = disabled */ 142 #define ADIS16240_MSC_CTRL_DATA_RDY_EN BIT(2) 143 144 /* Data-ready polarity: 1 = active high, 0 = active low */ 145 #define ADIS16240_MSC_CTRL_ACTIVE_HIGH BIT(1) 146 147 /* Data-ready line selection: 1 = DIO2, 0 = DIO1 */ 148 #define ADIS16240_MSC_CTRL_DATA_RDY_DIO2 BIT(0) 149 150 /* DIAG_STAT */ 151 152 /* Alarm 2 status: 1 = alarm active, 0 = alarm inactive */ 153 #define ADIS16240_DIAG_STAT_ALARM2 BIT(9) 154 155 /* Alarm 1 status: 1 = alarm active, 0 = alarm inactive */ 156 #define ADIS16240_DIAG_STAT_ALARM1 BIT(8) 157 158 /* Capture buffer full: 1 = capture buffer is full */ 159 #define ADIS16240_DIAG_STAT_CPT_BUF_FUL BIT(7) 160 161 /* Flash test, checksum flag: 1 = mismatch, 0 = match */ 162 #define ADIS16240_DIAG_STAT_CHKSUM BIT(6) 163 164 /* Power-on, self-test flag: 1 = failure, 0 = pass */ 165 #define ADIS16240_DIAG_STAT_PWRON_FAIL_BIT 5 166 167 /* Power-on self-test: 1 = in-progress, 0 = complete */ 168 #define ADIS16240_DIAG_STAT_PWRON_BUSY BIT(4) 169 170 /* SPI communications failure */ 171 #define ADIS16240_DIAG_STAT_SPI_FAIL_BIT 3 172 173 /* Flash update failure */ 174 #define ADIS16240_DIAG_STAT_FLASH_UPT_BIT 2 175 176 /* Power supply above 3.625 V */ 177 #define ADIS16240_DIAG_STAT_POWER_HIGH_BIT 1 178 179 /* Power supply below 3.15 V */ 180 #define ADIS16240_DIAG_STAT_POWER_LOW_BIT 0 181 182 /* GLOB_CMD */ 183 184 #define ADIS16240_GLOB_CMD_RESUME BIT(8) 185 #define ADIS16240_GLOB_CMD_SW_RESET BIT(7) 186 #define ADIS16240_GLOB_CMD_STANDBY BIT(2) 187 188 #define ADIS16240_ERROR_ACTIVE BIT(14) 189 190 /* At the moment triggers are only used for ring buffer 191 * filling. This may change! 192 */ 193 194 enum adis16240_scan { 195 ADIS16240_SCAN_ACC_X, 196 ADIS16240_SCAN_ACC_Y, 197 ADIS16240_SCAN_ACC_Z, 198 ADIS16240_SCAN_SUPPLY, 199 ADIS16240_SCAN_AUX_ADC, 200 ADIS16240_SCAN_TEMP, 201 }; 202 203 static ssize_t adis16240_spi_read_signed(struct device *dev, 204 struct device_attribute *attr, 205 char *buf, 206 unsigned int bits) 207 { 208 struct iio_dev *indio_dev = dev_to_iio_dev(dev); 209 struct adis *st = iio_priv(indio_dev); 210 int ret; 211 s16 val = 0; 212 unsigned int shift = 16 - bits; 213 struct iio_dev_attr *this_attr = to_iio_dev_attr(attr); 214 215 ret = adis_read_reg_16(st, 216 this_attr->address, (u16 *)&val); 217 if (ret) 218 return ret; 219 220 if (val & ADIS16240_ERROR_ACTIVE) 221 adis_check_status(st); 222 223 val = (s16)(val << shift) >> shift; 224 return sprintf(buf, "%d\n", val); 225 } 226 227 static ssize_t adis16240_read_12bit_signed(struct device *dev, 228 struct device_attribute *attr, 229 char *buf) 230 { 231 return adis16240_spi_read_signed(dev, attr, buf, 12); 232 } 233 234 static IIO_DEVICE_ATTR(in_accel_xyz_squared_peak_raw, 0444, 235 adis16240_read_12bit_signed, NULL, 236 ADIS16240_XYZPEAK_OUT); 237 238 static IIO_CONST_ATTR_SAMP_FREQ_AVAIL("4096"); 239 240 static const u8 adis16240_addresses[][2] = { 241 [ADIS16240_SCAN_ACC_X] = { ADIS16240_XACCL_OFF, ADIS16240_XPEAK_OUT }, 242 [ADIS16240_SCAN_ACC_Y] = { ADIS16240_YACCL_OFF, ADIS16240_YPEAK_OUT }, 243 [ADIS16240_SCAN_ACC_Z] = { ADIS16240_ZACCL_OFF, ADIS16240_ZPEAK_OUT }, 244 }; 245 246 static int adis16240_read_raw(struct iio_dev *indio_dev, 247 struct iio_chan_spec const *chan, 248 int *val, int *val2, 249 long mask) 250 { 251 struct adis *st = iio_priv(indio_dev); 252 int ret; 253 int bits; 254 u8 addr; 255 s16 val16; 256 257 switch (mask) { 258 case IIO_CHAN_INFO_RAW: 259 return adis_single_conversion(indio_dev, chan, 260 ADIS16240_ERROR_ACTIVE, val); 261 case IIO_CHAN_INFO_SCALE: 262 switch (chan->type) { 263 case IIO_VOLTAGE: 264 if (chan->channel == 0) { 265 *val = 4; 266 *val2 = 880000; /* 4.88 mV */ 267 return IIO_VAL_INT_PLUS_MICRO; 268 } 269 return -EINVAL; 270 case IIO_TEMP: 271 *val = 244; /* 0.244 C */ 272 *val2 = 0; 273 return IIO_VAL_INT_PLUS_MICRO; 274 case IIO_ACCEL: 275 *val = 0; 276 *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */ 277 return IIO_VAL_INT_PLUS_MICRO; 278 default: 279 return -EINVAL; 280 } 281 break; 282 case IIO_CHAN_INFO_PEAK_SCALE: 283 *val = 0; 284 *val2 = IIO_G_TO_M_S_2(51400); /* 51.4 mg */ 285 return IIO_VAL_INT_PLUS_MICRO; 286 case IIO_CHAN_INFO_OFFSET: 287 *val = 25000 / 244 - 0x133; /* 25 C = 0x133 */ 288 return IIO_VAL_INT; 289 case IIO_CHAN_INFO_CALIBBIAS: 290 bits = 10; 291 addr = adis16240_addresses[chan->scan_index][0]; 292 ret = adis_read_reg_16(st, addr, &val16); 293 if (ret) 294 return ret; 295 val16 &= (1 << bits) - 1; 296 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); 297 *val = val16; 298 return IIO_VAL_INT; 299 case IIO_CHAN_INFO_PEAK: 300 bits = 10; 301 addr = adis16240_addresses[chan->scan_index][1]; 302 ret = adis_read_reg_16(st, addr, &val16); 303 if (ret) 304 return ret; 305 val16 &= (1 << bits) - 1; 306 val16 = (s16)(val16 << (16 - bits)) >> (16 - bits); 307 *val = val16; 308 return IIO_VAL_INT; 309 } 310 return -EINVAL; 311 } 312 313 static int adis16240_write_raw(struct iio_dev *indio_dev, 314 struct iio_chan_spec const *chan, 315 int val, 316 int val2, 317 long mask) 318 { 319 struct adis *st = iio_priv(indio_dev); 320 int bits = 10; 321 s16 val16; 322 u8 addr; 323 324 switch (mask) { 325 case IIO_CHAN_INFO_CALIBBIAS: 326 val16 = val & ((1 << bits) - 1); 327 addr = adis16240_addresses[chan->scan_index][0]; 328 return adis_write_reg_16(st, addr, val16); 329 } 330 return -EINVAL; 331 } 332 333 static const struct iio_chan_spec adis16240_channels[] = { 334 ADIS_SUPPLY_CHAN(ADIS16240_SUPPLY_OUT, ADIS16240_SCAN_SUPPLY, 0, 10), 335 ADIS_AUX_ADC_CHAN(ADIS16240_AUX_ADC, ADIS16240_SCAN_AUX_ADC, 0, 10), 336 ADIS_ACCEL_CHAN(X, ADIS16240_XACCL_OUT, ADIS16240_SCAN_ACC_X, 337 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK), 338 0, 10), 339 ADIS_ACCEL_CHAN(Y, ADIS16240_YACCL_OUT, ADIS16240_SCAN_ACC_Y, 340 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK), 341 0, 10), 342 ADIS_ACCEL_CHAN(Z, ADIS16240_ZACCL_OUT, ADIS16240_SCAN_ACC_Z, 343 BIT(IIO_CHAN_INFO_CALIBBIAS) | BIT(IIO_CHAN_INFO_PEAK), 344 0, 10), 345 ADIS_TEMP_CHAN(ADIS16240_TEMP_OUT, ADIS16240_SCAN_TEMP, 0, 10), 346 IIO_CHAN_SOFT_TIMESTAMP(6) 347 }; 348 349 static struct attribute *adis16240_attributes[] = { 350 &iio_dev_attr_in_accel_xyz_squared_peak_raw.dev_attr.attr, 351 &iio_const_attr_sampling_frequency_available.dev_attr.attr, 352 NULL 353 }; 354 355 static const struct attribute_group adis16240_attribute_group = { 356 .attrs = adis16240_attributes, 357 }; 358 359 static const struct iio_info adis16240_info = { 360 .attrs = &adis16240_attribute_group, 361 .read_raw = adis16240_read_raw, 362 .write_raw = adis16240_write_raw, 363 .update_scan_mode = adis_update_scan_mode, 364 .driver_module = THIS_MODULE, 365 }; 366 367 static const char * const adis16240_status_error_msgs[] = { 368 [ADIS16240_DIAG_STAT_PWRON_FAIL_BIT] = "Power on, self-test failed", 369 [ADIS16240_DIAG_STAT_SPI_FAIL_BIT] = "SPI failure", 370 [ADIS16240_DIAG_STAT_FLASH_UPT_BIT] = "Flash update failed", 371 [ADIS16240_DIAG_STAT_POWER_HIGH_BIT] = "Power supply above 3.625V", 372 [ADIS16240_DIAG_STAT_POWER_LOW_BIT] = "Power supply below 2.225V", 373 }; 374 375 static const struct adis_data adis16240_data = { 376 .write_delay = 35, 377 .read_delay = 35, 378 .msc_ctrl_reg = ADIS16240_MSC_CTRL, 379 .glob_cmd_reg = ADIS16240_GLOB_CMD, 380 .diag_stat_reg = ADIS16240_DIAG_STAT, 381 382 .self_test_mask = ADIS16240_MSC_CTRL_SELF_TEST_EN, 383 .self_test_no_autoclear = true, 384 .startup_delay = ADIS16240_STARTUP_DELAY, 385 386 .status_error_msgs = adis16240_status_error_msgs, 387 .status_error_mask = BIT(ADIS16240_DIAG_STAT_PWRON_FAIL_BIT) | 388 BIT(ADIS16240_DIAG_STAT_SPI_FAIL_BIT) | 389 BIT(ADIS16240_DIAG_STAT_FLASH_UPT_BIT) | 390 BIT(ADIS16240_DIAG_STAT_POWER_HIGH_BIT) | 391 BIT(ADIS16240_DIAG_STAT_POWER_LOW_BIT), 392 }; 393 394 static int adis16240_probe(struct spi_device *spi) 395 { 396 int ret; 397 struct adis *st; 398 struct iio_dev *indio_dev; 399 400 /* setup the industrialio driver allocated elements */ 401 indio_dev = devm_iio_device_alloc(&spi->dev, sizeof(*st)); 402 if (!indio_dev) 403 return -ENOMEM; 404 st = iio_priv(indio_dev); 405 /* this is only used for removal purposes */ 406 spi_set_drvdata(spi, indio_dev); 407 408 indio_dev->name = spi->dev.driver->name; 409 indio_dev->dev.parent = &spi->dev; 410 indio_dev->info = &adis16240_info; 411 indio_dev->channels = adis16240_channels; 412 indio_dev->num_channels = ARRAY_SIZE(adis16240_channels); 413 indio_dev->modes = INDIO_DIRECT_MODE; 414 415 ret = adis_init(st, indio_dev, spi, &adis16240_data); 416 if (ret) 417 return ret; 418 ret = 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 goto error_cleanup_buffer_trigger; 426 ret = iio_device_register(indio_dev); 427 if (ret) 428 goto error_cleanup_buffer_trigger; 429 return 0; 430 431 error_cleanup_buffer_trigger: 432 adis_cleanup_buffer_and_trigger(st, indio_dev); 433 return ret; 434 } 435 436 static int adis16240_remove(struct spi_device *spi) 437 { 438 struct iio_dev *indio_dev = spi_get_drvdata(spi); 439 struct adis *st = iio_priv(indio_dev); 440 441 iio_device_unregister(indio_dev); 442 adis_cleanup_buffer_and_trigger(st, indio_dev); 443 444 return 0; 445 } 446 447 static struct spi_driver adis16240_driver = { 448 .driver = { 449 .name = "adis16240", 450 }, 451 .probe = adis16240_probe, 452 .remove = adis16240_remove, 453 }; 454 module_spi_driver(adis16240_driver); 455 456 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 457 MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder"); 458 MODULE_LICENSE("GPL v2"); 459 MODULE_ALIAS("spi:adis16240"); 460