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 }; 200 201 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 } 224 225 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 }; 243 244 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 } 303 304 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 }; 387 388 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->dev.parent = &spi->dev; 404 indio_dev->info = &adis16240_info; 405 indio_dev->channels = adis16240_channels; 406 indio_dev->num_channels = ARRAY_SIZE(adis16240_channels); 407 indio_dev->modes = INDIO_DIRECT_MODE; 408 409 spi->mode = SPI_MODE_3; 410 ret = spi_setup(spi); 411 if (ret) { 412 dev_err(&spi->dev, "spi_setup failed!\n"); 413 return ret; 414 } 415 416 ret = adis_init(st, indio_dev, spi, &adis16240_data); 417 if (ret) 418 return ret; 419 ret = adis_setup_buffer_and_trigger(st, indio_dev, NULL); 420 if (ret) 421 return ret; 422 423 /* Get the device into a sane initial state */ 424 ret = adis_initial_startup(st); 425 if (ret) 426 goto error_cleanup_buffer_trigger; 427 ret = iio_device_register(indio_dev); 428 if (ret) 429 goto error_cleanup_buffer_trigger; 430 return 0; 431 432 error_cleanup_buffer_trigger: 433 adis_cleanup_buffer_and_trigger(st, indio_dev); 434 return ret; 435 } 436 437 static int adis16240_remove(struct spi_device *spi) 438 { 439 struct iio_dev *indio_dev = spi_get_drvdata(spi); 440 struct adis *st = iio_priv(indio_dev); 441 442 iio_device_unregister(indio_dev); 443 adis_cleanup_buffer_and_trigger(st, indio_dev); 444 445 return 0; 446 } 447 448 static const struct of_device_id adis16240_of_match[] = { 449 { .compatible = "adi,adis16240" }, 450 { }, 451 }; 452 MODULE_DEVICE_TABLE(of, adis16240_of_match); 453 454 static struct spi_driver adis16240_driver = { 455 .driver = { 456 .name = "adis16240", 457 .of_match_table = adis16240_of_match, 458 }, 459 .probe = adis16240_probe, 460 .remove = adis16240_remove, 461 }; 462 module_spi_driver(adis16240_driver); 463 464 MODULE_AUTHOR("Barry Song <21cnbao@gmail.com>"); 465 MODULE_DESCRIPTION("Analog Devices Programmable Impact Sensor and Recorder"); 466 MODULE_LICENSE("GPL v2"); 467 MODULE_ALIAS("spi:adis16240"); 468